System, mobile base station and umbilical cabling and tethering (UCAT) apparatus

ABSTRACT

An aspect of the embodiments includes a system comprising an unmanned self-propelled (USP) vehicle comprising a tool having a dispensed tool output and a mobile base station. The mobile base station comprises a power supply, a fluid medium source, and one or more processors operable to generate control signals to control the USP vehicle and to affect the dispensed tool output from the tool. The mobile base station includes an umbilical cabling and tethering (UCAT) apparatus to interconnect the USP vehicle and the mobile base station, the UCAT apparatus providing the USP vehicle with one or more of power from the power supply, a fluid medium from the fluid medium source and the control signals. The embodiments include a mobile base station and method for conducting a task.

CROSS REFERENCE TO RELATED APPLICATION

This application claims the benefit of U.S. Provisional Application No.62/049,645, entitled “MOBILE BASE STATION AND TETHERING APPARATUS,”filed Sep. 12, 2014, which is incorporated herein by reference as if setforth in full below.

FIELD OF THE DISCLOSURE

The present disclosure generally relates to systems with unmannedrobotic devices and more particularly to a system, mobile base stationand umbilical cabling and tethering (UCAT) apparatus for use withunmanned robotic devices.

BACKGROUND

The statements in this section merely provide background informationrelated to the present disclosure and may not constitute prior art.

Unmanned robotic devices, especially aerial ones, have been used byspecialists to perform a variety of complex tasks for many years;however, performing such tasks has required significant training,sophisticated ground control computers and powerful onboard guidancenavigation and control systems. Operating these systems has been beyondthe abilities of many lay people.

Consumer-oriented drones, such as the AR Drone® vehicle (available fromParrot société anonyme (sa) of Paris, France) allow novice operators tofly a small unmanned aerial vehicle via a smartphone (e.g., an iPhone®(available from Apple, Inc. of Cupertino, Calif.) or the like)). Theonboard systems of the AR Drone vehicle may receive wireless signalsfrom the user-provided smartphone and perform simple semi-autonomoustasks, such as taking pictures, flying a pre-programmed pattern,landing, and the like.

Other more sophisticated autonomous and semi-autonomous flying vehicleshave been developed which are capable of flying precise flight patterns,identifying and potentially avoiding obstacles in a flight path, pickingup and/or delivering objects, and taking off or landing at a desiredlocation.

In some regimes, robotic devices are suited to perform basic, tediousand/or time-consuming tasks. For example, Roomba® cleaning devices(available from iRobot Corporation of Bedford, Mass.) semi-autonomouslyvacuum interior floors, eliminating or reducing the need for anindividual to clean the floor. A problem arises when a task-performingrobotic device requires the use of depletable materials, needs toreplenish its power supply, and/or requires human interaction todischarge collected materials contained within the device, such as dirtthat has been collected by a Roomba® cleaning device. In theseinstances, the robotic device must obtain new materials and/or powersupplies when its current ones run out and/or release collectedmaterials. This requires the robotic device to pause the performance ofits task, travel to a site where materials and/or power sources may beobtained and/or where the robotic device waits for a human operator toperform a required task, such as removing collected materials, and thentravel back to the task site to continue working. These types ofprocesses can take considerable time (and in some cases, power) thatcould be better applied to the task itself.

Given the foregoing, what is needed are apparatus, systems, and methodswhich facilitate the ability of novice users to monitor and replenishlevels of a robotic device's task-related materials and/or powersupplies without having to cause the robotic device to stop performingits task and/or travel away from the task site.

SUMMARY

This Summary is provided to introduce a selection of concepts. Theseconcepts are further described below in the Detailed Descriptionsection. This Summary is not intended to identify key features oressential features of this disclosure's subject matter, nor is thisSummary intended as an aid in determining the scope of the disclosedsubject matter.

An aspect of the embodiments includes a system comprising an unmannedself-propelled (USP) vehicle comprising a tool having a dispensed tooloutput; and a mobile base station. The mobile base station having amobile platform, the mobile base station comprising a power supply, afluid medium source, and one or more processors operable to generatecontrol signals to control the USP vehicle and to affect the dispensedtool output from the tool. The mobile base station includes an umbilicalcabling and tethering (UCAT) apparatus to interconnect the USP vehicleand the mobile base station, the UCAT apparatus providing the USPvehicle with one or more of power from the power supply, a fluid mediumfrom the fluid medium source and the control signals.

An aspect of the embodiments include a mobile base station comprising apower supply; a fluid source; and one or more processors operable togenerate control signals to control an unmanned self-propelled (USP)vehicle having a tool with a dispensed tool output and to affect thedispensed tool output from the tool. The mobile base station comprisesan umbilical cabling and tethering (UCAT) apparatus to interconnect theUSP vehicle and the mobile base station, the UCAT apparatus providingthe USP vehicle with one or more of power from the power supply, a fluidmedium from the fluid medium source and the control signals.

Another aspect of the embodiments include a method comprising providinga mobile base station on a mobile platform, the mobile base stationcomprising a power supply; a fluid medium source having a fluid medium;one or more processors operable to generate control signals to controlan unmanned self-propelled (USP) vehicle having a tool with a dispensedtool output and to affect the dispensed tool output from the tool; andan umbilical cabling and tethering (UCAT) apparatus to interconnect theUSP vehicle and the mobile base station. The method includesinterconnecting the USP vehicle and the mobile base station; generating,by the one or more processors of the mobile base station, the controlsignals to control the USP vehicle; communicating one or more of powerfrom the power supply, the control signals and the fluid medium throughthe UCAT apparatus; and affecting the dispensed tool output of the toolvia the control signals and movement of the mobile platform.

Further features and advantages of the present disclosure, as well asthe structure and operation of various aspects of the presentdisclosure, are described in detail below with reference to theaccompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The features and advantages of the present disclosure will become moreapparent from the Detailed Description set forth below when taken inconjunction with the drawings in which like reference numbers indicateidentical or functionally similar elements.

FIG. 1A is a block diagram of an umbilical cabling and tethering (UCAT)operations system, according to an aspect of the present disclosure.

FIG. 1B is a block diagram of an umbilical cabling and tethering (UCAT)operations system with a UCAT assist system in a land-based environment,according to an aspect of the present disclosure.

FIG. 1C is a block diagram of an umbilical cabling and tethering (UCAT)operations system with a UCAT assist system in a water-basedenvironment, according to an aspect of the present disclosure.

FIG. 2 is a perspective view of an aerial vehicle that may be usedwithin the system of FIGS. 1A-1C having interchangeable arms for housingtools to perform a variety of tasks, according to an aspect of thepresent disclosure.

FIG. 3 is a perspective view of an aerial vehicle having multiple add-onattachment points, according to various aspects of the presentdisclosure.

FIG. 4A is a perspective view of a landing pad using markings and beingconfigured to provide power, material, and data connections to an aerialvehicle, according to an aspect of the present disclosure.

FIG. 4B is a perspective view of a landing pad using beacons and beingconfigured to provide power, material, and data connections to an aerialvehicle, according to an aspect of the present disclosure.

FIG. 5 is a top view of an aerial vehicle including a removable mobilecomputing device, according to an aspect of the present disclosure.

FIG. 6 is a dataflow diagram depicting wireless operation of the aerialoperations system, according to an aspect of the present disclosure.

FIG. 7 is a dataflow diagram depicting wireless operation of the UCAToperations system, according to an aspect of the present disclosure.

FIG. 8 is a side view of a container system configurable as amaterial(s) reservoir, a supplemental device and/or a power supplysource (shown as a bucket in FIG. 8) and connectable to a mobile basestation and capable of providing paint or other materials or powersupplies for use by a robotic device, according to an aspect of thepresent disclosure.

FIGS. 9A-9E are views of a variety of tools (modular add-ons) usablewith an aerial vehicle, according to aspects of the present disclosure.

FIGS. 10A-10I are views of a variety of tools (modular add-ons) usablewith an aerial vehicle, according to aspects of the present disclosure.

FIG. 11A is a flowchart of a process for a user to initiate a materialand/or power supply replenishment process for an aerial vehicle via amobile base station, according to an aspect of the present disclosure.

FIG. 11B is a flowchart of a process for a mobile base station tocontrol an unmanned self-propelled (USP) vehicle, according to an aspectof the present disclosure.

FIG. 12A is a block diagram of the interrelationship of the maincomponents of the UCAT operations system, according to an aspect of thepresent disclosure.

FIG. 12B is a block diagram of the interrelationship of the maincomponents of the UCAT operations system with a UCAT assist system,according to an aspect of the present disclosure.

FIG. 13 is a block diagram of a computing system useful for implementingaspects of the present disclosure.

FIG. 14 is a view of the UCAT operations system dispensing a fluidmedium in the direction of a structure, according to an aspect of thepresent disclosure.

FIG. 15A is a view of the UCAT assist system, according to an aspect ofthe present disclosure.

FIG. 15B is a view of the UCAT assist system, according to an aspect ofthe present disclosure.

FIG. 15C is a view of a UCAT assist device with a tool, according to anaspect of the present disclosure.

FIG. 16 is a view of a UCAT operations system building a structure,according to an aspect of the present disclosure.

FIG. 17 is a view of a torch tool with a material reservoir, accordingto an aspect of the present disclosure.

FIG. 18A is a view of a collapsible building structure element,according to an aspect of the present disclosure.

FIG. 18B is a view of a UCAT operations system lifting the buildingstructure element of FIG. 18A, according to an aspect of the presentdisclosure.

FIG. 18C is a view of a UCAT operations system filling the lifted thebuilding structure element of FIG. 18B, according to an aspect of thepresent disclosure.

FIG. 18D is a top view of a buildable structure using the UCAToperations system of FIGS. 1A-1B, according to an aspect of the presentdisclosure.

FIG. 19A is a plan view of a buildable structure using at least one UCAToperations system, according to an aspect of the present disclosure.

FIG. 19B is a view of a built structure and a partially built structureusing at least one UCAT operations system, according to an aspect of thepresent disclosure.

FIGS. 20A-20C are views of an aerial vehicle above water, hovering inwater and submerged in water, according to an aspect of the presentdisclosure.

FIGS. 21A-21E are views of tools (modular add-ons) usable with an aerialvehicle, according to aspects of the present disclosure.

DETAILED DESCRIPTION

The present disclosure is directed to apparatus, systems, and methodsthat facilitate the ability of a user to monitor and control the amountof depletable materials and other materials (including materialscollected or transferred by the drone as well as those sent to thedrone) and/or power supplies present in a robotic device such as withoutlimitation an aerial vehicle. This may be accomplished by attaching therobotic device to a mobile base station containing one or morecontainers of depletable and/or other materials and/or power suppliesvia a umbilical cabling and tethering (UCAT) apparatus designed totransport materials and power supplies from the mobile base stationcontainers to the robotic device, either at the command of the user orvia an automated or semi-automated process. This may reduce or eliminatethe need for the robotic device to physically return to the mobile basestation or other location in order to replenish its depletable or othermaterials and/or power supplies, thus allowing more time to be dedicatedto task performance. Likewise, the UCAT apparatus may transportmaterials away from the robotic device that are used or collected by thedevice. This may make it unnecessary for the robotic device to stop whatit is doing and travel to a different location to deposit the unwantedmaterials and/or await human interaction to complete the depositprocess. In addition, the UCAT apparatus may transport materials fromlocation to location either directly through the robotic device orthrough the robotic device to the mobile base station. Further the UCAToperations system may be capable of both deploying material from themobile base station “up” the UCAT apparatus and “down” the UCATapparatus to the mobile base station or other air or ground basedlocation simultaneously.

The term “robotic device” and/or the plural form of this term are usedthroughout herein to refer to any machine comprising electrical and/ormechanical components that is capable of performing a task via manualinstructions, autonomously, or semi-autonomously; such as, by way ofexample and not limitation, a drone, an unmanned aerial vehicle (UAV),robot, UAS's (including “small UAS's”), and the like. An unmanned aerialvehicle or robotic device may be an unmanned self-propelled (USP)vehicle.

FIG. 1A is a block diagram of an umbilical cabling and tethering (UCAT)operations system 100A. The UCAT operations system 100A may allow a user124 manage, monitor, and control the amount of depletable and othermaterials (including materials collected or transferred by the roboticdevice 114 as well as those sent to or from the robotic device 114)and/or power supplies present within a robotic device 114 (i.e., drone,UAV, robot, or USP vehicle) attached to a mobile base station 101A viaan umbilical cabling and tethering (UCAT) apparatus 116A, as well as thelevels within other components of system 100A, according to an aspect ofthe present disclosure, is shown. The mobile base station 101A mayinclude a discharge or inlet tube 117. Tube 117 may serve as an overflowor may receive a fluid medium through tube 117.

Within system 100A, user 124 may use a computing device 126 to monitorthe depletable material(s) and/or power supply levels currently presentwithin the various components of system 100A, including a depletablematerial(s) reservoir 110, supplemental device(s) 112, and UCATapparatus 116A; and/or to control the operations of robotic device 114(i.e., drone, UAV, robot, or USP vehicle) and the other components ofsystem 100A. Robotic device 114 and UCAT apparatus 116A may beincorporated with any computational components necessary as recognizedby those skilled in the relevant art(s), including processors andcontrollers, to give it the ability to perform some or all of its tasksautonomously, determine when and how such tasks should be done, and/orcommunicate with user 124. Multiple indicators 130 may be displayed bycomputing device 126 indicating such levels, operational state, orsupplemental data. The indicators 130 may be digital representations ofmeters, gauges, and similar structures to show or display the levels ofinterest as determined by sensors within robotic device 114, mobile basestation 101A, UCAT apparatus 116A, material(s) reservoir 110, andsupplemental device(s) 112 and information from the mobile base station101A such as location, speed, direction, etc. In other instances theindicators may be verbal, flashing lights, hand or other body motions bythe operator or some combination thereof (including digital display,sound, lights, and/or motion).

Computing device 126 may comprise a tablet; smartphone; mobile computer;microphone; a motion control device such as that provided by LeapMotion, Inc. of San Francisco, Calif.; or any other similar mobile ornon-mobile device as recognized by those skilled in the relevant art(s).Additionally, computing device 126 may contain wired or wirelessconnectivity as well as data storage, communication, and similarcomputing modules as recognized by those skilled in the relevant art(s)that allow it to communicate and interact with all of the computationalcomponents of system 100A and networks such as the Internet. When user124 desires to increase the levels of materials and/or power suppliespresent within robotic device 114, user 124 may press a button 128 oncomputing device 126 to initiate a refill/replenishment process and/oradjust the rate at which continuously supplied materials/power suppliesare transferred from mobile base station 101A to robotic device 114. Inalternative aspects, button 128 functions to initiate a continuoussupply of materials and/or power supplies to robotic device 114. In someaspects, the sensors onboard robotic device 114 may detect when materialand/or power supply levels get below a certain threshold and at suchpoint system 100A may initiate the refill/replenishment process, adjustthe material/power supply continuous transfer rate automatically, and/ornotify user 124 about the occurrence of the low material and/or powersupply levels. Such a notification may be in the form of a text or emailmessage sent to computing device 126, the illumination of one or morelight-emitting devices within system 100A, an audio sound, or anysimilar form as may become apparent to those skilled in the relevantart(s) after reading the description herein.

In some aspects, computing device 126 is not used with system 100A. Insuch aspects, user 124 may send commands and any other types ofcommunication to system 100A verbally. In order to accomplish this,system 100A may be equipped with one or more microphones (i.e.,microphone 1257 of FIGS. 12A and 12B) that are standalone devices and/orare integrated with any other component of system(s) 100A, UCATapparatus 116A or robotic device 114. The microphone(s) may becommunicatively coupled to one or more computational devices associatedwith system(s) 100A, the UCAT apparatus 116A or robotic device 114,including computational hardware 108, via wired or wirelessconnectivity.

The computational device(s) may be configured to be eitherpre-programmed to accept verbal commands of a specific form and/or maybe configured to interpret free-form verbal commands via voicerecognition module 1264 of FIGS. 12A and 12B or as part of mobilecomputing device 126. By way of example and not limitation, apre-programmed verbal command may comprise the phrase, “Refill paintbucket.” Alternatively, a free-form command such as, “Add more paint tothe bucket” may be understood by the computing device(s) of system 100A,UCAT apparatus 116A or robotic device 114 or as part of mobile computingdevice 126. Alternatively and/or additionally, user 124 may usemotion/gesture commands to communicate with system 100A, UCAT apparatus116A, robotic device 114, or mobile computing device 126. Motion/gesturecommands may be received by system 100A, UCAT apparatus 116A, roboticdevice 114, or mobile computing device 126 via one or more cameras,motion control devices, motion capture devices, and/or any similardevices as recognized by those skilled in the relevant art(s) that arecurrently known or will be known in the future. The motion controlsensors 1260 of FIGS. 12A and 12B or within UCAT apparatus 116A, roboticdevice 114, or mobile computing device 126 may include one or more ofcameras, motion control devices, motion capture devices or the like.These devices may be of the standalone variety and/or may be physicallyintegrated with one or more of the other components of the system(s).

Furthermore, in some additional embodiments system 100A, UCAT apparatus116A, robotic device 114, or mobile computing device 126 includes atleast one display device (i.e., display device 1254 of FIGS. 12A and12B) and/or projection device that is communicatively coupled tocomputational hardware 108 or computational hardware embedded in oradded to UCAT apparatus 116A, robotic device 114 or mobile computingdevice 126, either as a standalone component and/or physicallyintegrated with another component of system 100A, UCAT apparatus 116A,robotic device 114, or mobile computing device 126 such as mobile basestation 101A. In such aspects, the projection device may displayinformation pertaining to system 100A, UCAT apparatus 116A, roboticdevice 114, or mobile computing device 126 on a wall, a screen, theground, any other surface as recognized by those skilled in the relevantart(s) as being capable of displaying a projected output, and/or in theform of a hologram. User 124 may be able to interact with the projecteddisplay and use it to control various aspects of system 100A, UCATapparatus 116A, robotic device 114, or mobile computing device 126 viaone or more motion control devices (i.e., motion control sensors 1260 ofFIGS. 12A and 12B) or via any similar technology as currently recognizedor will be known in the future by those skilled in the relevant art(s).Additionally, system 100A may be able to communicate with user 124 viathe illumination of one or more light sources and/or the functioning ofone or more audio outputs (via speaker 1256 of FIGS. 12A and 12B) orcomputational hardware embedded in or added to UCAT apparatus 116A,robotic device 114, or mobile computing device 126, configured to sendmessages in the form of audio and/or illuminative effects that representvarious messages. By way of example and not limitation, two “beeps” fromrobotic device 114 could mean that it has power supply levels that arebelow a certain threshold, or robotic device 114 could “speak” thephrase, “Power supplies are low.” In other use cases there may be aphysical controller (similar to a joystick) with knobs and dials andswitches, etc. The system(s) 100A, UCAT apparatus 116A, robotic device114, or mobile computing device 126, may initiate therefill/replenishment process and/or adjust the material/power supplycontinuous transfer rate automatically, and or contact the operator(send a text, an e-mail, flash lights, make sounds, etc.). One or morecomponents of the system 100A, UCAT apparatus 116A, mobile base station101A, robotic device 114, or mobile computing device 126 may be remotelycontrolled via the Internet.

The refill/replenishment process may take place via UCAT apparatus 116A,which connects robotic device 114 to mobile base station 101A. In someaspects, quick connection mechanisms may allow UCAT apparatus 116A to bequickly and easily connected to and disconnected from robotic device 114and/or mobile base station 101A. Mobile base station 101A may comprise amobile platform 102A, wheels (shown only as 104 a and 104 b in FIG. 1Afor clarity), one or more power supply sources (PSS) 106, computationalhardware (CH) 108, depletable material(s) reservoir 110, and one or moresupplemental devices 112, The mobile platform 102A is propelled via thepower of motor 115. The motor 115 may be electric or gas powered. Powersupply source 106 may be directly connected to robotic device 114 viacord(s) 118 a. Similarly, computational hardware 108, material(s)reservoir 110, and supplemental device(s) 112 may be directly connectedto robotic device 114 via cords 118 b, 118 c, and 118 d, respectively.The cords (i.e., cords 118 a-118 d) may pass through and be contained byUCAT apparatus 116A. In some aspects, one or more cords are notcontained within the casing of the UCAT apparatus 116A.

Specifically, the UCAT apparatus 116A may include a casing, such aswithout limitation a flexible conduit, through which the cords 118 a-118d are bundled. In yet some additional aspects, UCAT apparatus 116A isnot used at all and only cords 118 a-118 d attach mobile base station101A to robotic device 114. Furthermore, cords 118 a-118 d may comprisecables, tubes, hoses, fiber optic cables, wires (insulated andnon-insulated—electrical and mechanical wire), rods, chain, rope,string, monofilament or any similar connection mechanism as will beappreciated by those skilled in the relevant art(s) after reading thedescription herein. Not only may UCAT apparatus 116A bring materials,power supplies, and communications/data to robotic device 114, it mayalso carry used/old materials as well as communications/data away fromrobotic device 114. By way of example and not limitation, tubing withinUCAT apparatus 116A may carry used, dirty water away from robotic device114 after the water has been used to wash something, as will bedescribed in more detail later. Material(s) carried away from roboticdevice 114 by UCAT apparatus 116A may either be discharged into the openenvironment when appropriate and/or transferred to reservoir 110 and/orsupplemental device(s) 112 or compartments therein. Material(s)transferred to reservoir 110 and/or supplemental device(s) 112 may beprocessed/filtered/cleaned (via the addition of chemicals or organiccompounds, bacteria, passed through membranes, filters, inert organic orinorganic matter, etc.) and held or discharged from reservoir 110.

UCAT apparatus 116A may comprise an elongated hollow casing structure ofa flexible yet durable nature that may contain and protect cords 118a-118 d from environmental elements and other potential sources ofdamage such that UCAT apparatus 116A may be used underground,underwater, in snow/ice, on any surface, in the air, in outer space orin any other location as may become apparent to those skilled in therelevant art(s) after reading the description herein. By way of exampleand not limitation, UCAT apparatus 116A may comprise one or morepolymers, metals, and/or fabric-like materials configured as a flexibletube, or any similar substances and configurations as will beappreciated by those skilled in the relevant art(s) after reading thedescription herein. Additionally, in some aspects, the length andconfiguration of UCAT apparatus 116A may be adjustable in order toaccommodate the demands of different tasks. By way of example and notlimitation, UCAT apparatus 116A and any cord(s) 118 a-118 d associatedwith system 100A may have the capability to expand and/or collapse in afashion similar to that of a rubber band.

FIG. 1B is a block diagram of an umbilical cabling and tethering (UCAT)operations system 100B with a UCAT assist system (i.e., UCAT assistsystem 1530A or 1530B of FIGS. 15A and 15B, respectively) in aland-based environment, according to an aspect of the presentdisclosure. The UCAT operational system 100B is similar to UCAToperational system 100A hence only the differences will be described indetail. The UCAT assist system may include one or more mini roboticdevices 134 a, 134 b, and 134 c similar to robotic device 114 which maybe located at various intervals along the UCAT apparatus 116B and/ortube 140 in order to support its weight, move it around, manipulate it,and/or attach it to a structure for weight support and stabilization.Such a configuration may be particularly necessary when robotic device114 is performing tasks that are significantly above or below groundlevel and/or a water surface, where UCAT apparatus 116B would otherwisebe suspended over a considerable distance without any support. Cordlessmini robotic devices could, in some scenarios, stay on the mobile basestation 101B or “parked” on the ground or in some “out of the waylocation” until needed when they would fly up or submerge, attach to theUCAT apparatus and move/manipulate the UCAT apparatus.

In aspects wherein UCAT apparatus 116B is attached to a structure, minirobotic device(s) 134 a and 134 b may attach, detach, move, and reattachapparatus 116B as needed as robotic device 114 moves during theperformance of its task(s). Mini robotic device(s) 134 a and 134 b maydraw power supplies from UCAT apparatus 116B and have their powersupplies monitored and replenished in ways similar to robotic device 114via mini tethering apparatus 138. The mini robotic devices may haveself-contained power and operations. More specifically, mini roboticdevice(s) 134 a-134 c may be configured to access mobile base station101B via one or more cords 118 a-118 d within UCAT apparatus 116Bconnected to mini tethering or UCAT apparatus 138 for the purpose ofobtaining materials and/or power supplies from reservoir 110,supplemental device(s) 112, and/or power supply or resupply source 106.

In some alternative aspects, one or more mini base stations 136 similarto landing pad 400A or 4008 (shown in FIGS. 4A and 4B) or an underwateror outer space docking station may be modified to be integrated withUCAT apparatus 116B at various intervals for the purpose of providingmaterials and/or power supplies to mini robotic device(s) 134 a-134 c,as well as a landing pad/docking/recharging station. In some aspects,multiple mini robotic devices 134 a-134 c may share one or more landingpads 136. In other aspects, there is one landing pad 136 for each minirobotic device 134 a-134 c within system 100B. In some additionalaspects, mini robotic device(s) 134 a-134 c operate wirelessly withinsystem 100B. In yet some alternative aspects, mini robotic device(s) maymake direct physical contact with UCAT apparatus 116B and obtainmaterials and/or power supplies therefrom either via a physicalconnection mechanism to the appropriate cord(s) 118 a-118 d. In someadditional aspects, mini robotic device(s) 134 a-134 c may containsensors as well as various computational elements for facilitating theability of device(s) 134 a-134 c to communicate with system 100B and toautonomously determine when to provide assistance/implement a task forany component of system 100B and thereafter actually engage in providingsuch assistance at a time determined to be appropriate. Alternatively,mobile base station 101B, robotic device 114, UCAT apparatus 116B,and/or computing device 126 may send instructions to mini roboticdevice(s) 134 a-134 c for performing any one of a variety of tasks. Whennot in use, mini robotic device(s) 134 a-134 c may be stored on adesignated part of mobile base station 101B or another designated areauntil they are needed, as will be described in more detail. The mobilebase station 101B includes a mobile platform 102B configured to bepropelled by motor 115. The mini robotic devices can also act asautonomous “helpers” determining on their own that the system and UCATapparatus need assistance and/or they can be controlled by the mobilebase station 101B or the robotic device/drone 114. Further the minirobotic devices are interchangeable with the robotic device 114 allowingmultiple robotic devices to coordinate and work simultaneously from asingle UCAT apparatus.

Mini base station(s) 136 may comprise support arms, cables, or othersimilar structures as will be appreciated by those skilled in therelevant art(s) after reading the description herein in order to attachthem to UCAT apparatus 116B with stability. In aspects wherein UCATapparatus 116B is not on a solid surface, mini base station(s) 136 mayinclude means for hovering in the air and/or maintaining a certain depthunder water. In yet some additional aspects, mini base station(s) 136may be constantly attached to mini robotic device(s) 134 while system100B is functioning. In such aspects, mini robotic device(s) 134 maykeep mini base station(s) 136 in position either completelyindependently or in conjunction with positioning mechanisms within minibase station(s) 136 as described previously.

In some scenarios, the mini robotic devices may retrieve mini basestations or landing pads from the mobile base station or elsewhere andvia quick connect options attach it to the UCAT apparatus. Likewise themini robotic devices could disconnect a mini base station (or landingpad) and return it to the ground, a repository or the mobile basestation 101B. The mini robotic devices are also able to retrieve varioushooks, wires, clips, etc. from the ground, a repository, or the mobilebase station 101B and attach them to, reposition them from, or removethem from the UCAT apparatus and structures the UCAT apparatus may wantto connect or attach to.

In some aspects, mini robotic device(s) 134 may retrieve mini basestation(s) 136 from mobile base station 101B or any other location andattach mini base station(s) 136 to UCAT apparatus 116B via quickconnection mechanisms. Likewise, mini robotic device(s) 134 may removemini base station(s) 136 from UCAT apparatus 116B and deposit mini basestation(s) 136 within a designated area on mobile base station 101Band/or any other designated location. Additionally, mini roboticdevice(s) may also be able to retrieve various hooks, wires, clips,and/or similar elements as will be appreciated by those skilled in therelevant art(s) after reading the description herein from a containerconfigured as a supplemental device 112 within mobile base station 101Bor any other designated location and attach them to, reposition them on,and/or remove them from UCAT apparatus 116B for the purpose ofconnecting mini base station(s) 136 and/or other objects thereto.

UCAT apparatus 116A, 116B or 116C may further comprise its owncomputational hardware, including embedded processors, sensors, andsimilar devices as will be appreciated by those skilled in the relevantart(s) after reading the description herein, as will be describe in moredetail in relation to FIGS. 15A and 15B. The embedded processors of theUCAT apparatus may be part of computational hardware 108 and/or in amobile computing device. The computational hardware may allow the othercomputational devices of system 100A, 100B or 100C to have the abilityto determine the position and current functionality status of UCATapparatus 116A, 116B or 116C, as well as similar information as will berecognized by those skilled in the relevant art(s) after reading thedescription herein. By way of example and not limitation, system 100A,100B or 100C may be able to determine and display to user 124 that oneor more cords 118 a-118 d and/or UCAT apparatus 116A, 116B or 116Citself is not functioning properly due to a physical deformation,operational failure, or potential failure sensed by the computationalhardware or reported by the software, user, or other input.

FIG. 1C is a block diagram of an umbilical cabling and tethering (UCAT)operations system 100C with a UCAT assist system in a water-basedenvironment, according to an aspect of the present disclosure. Thesystem 100C may omit the UCAT assist system as the UCAT assist systemmay be a modular add-on functionality to system 100C. In system 100Cwheels 104 a and 104 b are not included with mobile base station 101C.In such aspects, mobile base station 100C may be configured to hover inthe air, float on a body of water via mobile platform 102C, or bepartially or completely submerged within a body of water and may bemovable by the use of propellers, propulsion forces, or any otherappropriate means as will be apparent to those skilled in the relevantart(s) after reading the description herein. The mobile platform 102C isconfigured to be navigated in a body of water to carry out the tasks athand. By way of example and not limitation, mobile base station 101C maybe placed within or otherwise secured to the bed of a truck, placed on aboat trailer, or may hang from or be otherwise attached to a flyingvehicle such as a blimp or airplane. In other scenarios the mobile basestation could be an electric vehicle such as car, truck, golf cart, ATV,etc. (self-driving or otherwise).

In some additional aspects, mobile base station 101A, 101B or 101C isnot configured to be mobile, but rather may be used in a stationaryfashion. In such aspects, base station 101A, 101B or 101C may hang fromor be otherwise attached to a building or other supportive structure,including a rock formation or one or more trees, or any object capableof receiving and securing base station 101A, 101B or 101C as may becomeapparent to those skilled in the relevant art(s) after reading thedescription herein.

Material(s) reservoir 110 may be integrated with one or moreinterchangeable supplemental devices 112 to enhance the usability of thematerials it contains. By way of example and not limitation, in aninstance wherein robotic device 114 is a drone engaged in washing awindow 122 on a structure 120, material(s) reservoir 110 may containwater and be integrated with a supplemental device 112 that containssoap to produce a soap and water mixture. In some aspects, material(s)reservoir 110 may contain automated stirring and/or mixing elements inorder to thoroughly mix substances added thereto from one or moresupplemental devices 112. Such stirring/mixing elements may comprisemetallic or plastic blades or any similar structure(s) as will beappreciated by those skilled in the relevant art(s) after reading thedescription herein, and may be controlled by computing device 126 and/orcomputational hardware 108. Thus, soap from a supplemental device 112may be thoroughly mixed with the water in reservoir 110. The soap andwater mixture may be further enhanced by another supplemental device 112in the form of a pressurized pump to provide added water pressure to themixture when it is sprayed by a nozzle 206 (FIG. 2) attached to roboticdevice 114.

An additional supplemental device 112 may comprise a water heater inorder to add warmth to the mixture of soap and water so as to increaseits cleansing abilities. Additional supplemental devices 112 may includecompressors, dispensers, cameras, computers and processors and similardevices as will be appreciated by those skilled in the relevant art(s)after reading the description herein. Having all the necessary materialsfor system 100A, 100E or 1000 contained within reservoir 110 andsupplemental device(s) 112 allows for robotic devices 114 that are usedwith the system to be smaller and therefore more efficient in operation.This is because they do not have to carry the materials onboard andtherefore require less power to operate. As will be apparent to thoseskilled in the relevant art(s) after reading the description herein,although a singular reservoir 110 is referenced throughout thisdescription, more than one reservoir 110 may be configured with mobilebase station 101A, 101B or 101C, either in the form of or in addition tosupplemental device(s) 112.

In some aspects, reservoir 110 and/or supplemental device(s) 112 containone or more compartments in order for multiple substances to becontained therein. The substances may either be used to create amixture, may be used as alternatives to one another, or may influenceeach other in other ways as will become apparent to those skilled in therelevant art(s) after reading the description herein (e.g., ice in acompartment keeping a substance in a different compartment cold). By wayof example and not limitation, a material(s) reservoir 110 may containtwo compartments: one that contains red paint and another that containsblue paint. Robotic device 114 may use the red paint for some parts of aproject and switch to the blue paint for other parts; or, robotic device114 may access various amounts of red and blue paint simultaneously inorder to obtain various shades of purple wherein painting applicationand other applications are described in detail in U.S. patentapplication Ser. No. 14/674,524 filed Mar. 31, 2015 entitled “INDOOR ANDOUTDOOR AERIAL VEHICLES FOR PAINTING AND RELATED APPLICATIONS”incorporated herein by reference as if set forth in full below.Alternatively, stirring/mixing elements within material(s) reservoir 110may mix the red and blue paint before it leaves reservoir 110. Further,such coatings may be variable in their composition and use of materialfrom reservoir 110 and supplemental device(s) 112 in order to “spottreat” different areas with thicker or thinner coatings, coatings thatmay contain more or less supplemental material such as sand, microscopicgranulates of metal, water, air, gases, chemicals, organic and inorganiccompounds, and similar substances as recognized by those skilled in therelevant art(s) in order to ensure the areas of special concern such as“spot treated areas” receive the intended coating or material(s)application.

Power supply source 106, material(s) reservoir 110, supplementaldevice(s) 112, and/or UCAT apparatus 116A, 116B or 116C may containvarious sensors and accompanying mechanisms that may function to providesystem 100A, 100B or 100C, robotic device 114, or mobile computingdevice 126 with information regarding the status of any materials and/orpower supplies contained therein, including but not limited to, amountremaining, pH level, viscosity, temperature, mixture ratios, and similarinformation as will be appreciated by those skilled in the relevantart(s) after reading the description herein. By way of example and notlimitation, in an instance wherein robotic device 114 is a drone engagedin spraying a coating material on a structure or part of a structure,reservoir 110 may receive various components from supplemental device(s)112 such as sand, microscopic granulates of metal, water, air, gases,chemicals, organic and inorganic compounds, and similar substances asrecognized by those skilled in the relevant art(s) in order to maintaina certain material viscosity, chemical composition, pressure level,temperature, or other similar state as recognized by those skilled inthe relevant art(s).

Power supply source 106 may comprise one or more batteries, solarpanels, one or more electrical generators, one or more storage tanks forgaseous or liquid fuel, or any other source(s) of power that may besupplied to robotic device 114 and mobile base station 101A, 101B or101C and the other components of system 100A, 100B or 100C as will beappreciated by those skilled in the relevant art(s) after reading thedescription herein. In some aspects, power supply source 106 is directlyconnected to the local power grid via, for example, a domestic outlet,in order to give power supply source 106 access to a continuous flow ofelectrical power which may in turn be relayed to robotic device 114and/or utilized by mobile base station 101A, 101B, or 1010 and/or anyother component of system 100A, 100B or 100C, including computing device126. In aspects wherein power supply source 106 is a storage tank forgaseous, solid, semi-solid, or liquid fuel, a pump or other mechanismmay be associated with power supply source 106 in order to transfer itthrough a tube within UCAT apparatus 116A, 116B or 116C to roboticdevice 114.

Computational hardware 108 may comprise an intelligent command andcontrol system, such as, by way of example and not limitation, acomputer tablet, embedded systems, or any similar configuration as willbe appreciated by those skilled in the relevant art(s) after reading thedescription herein. Computational hardware 108 may also comprisewireless connectivity modules to allow it to communicate wirelessly withcomputing device 126, robotic device 114 and the rest of system 100A,100B or 100C. Additionally, computational hardware 108 may comprisecomponents such as processors, controllers, communication conduits, andother modules as recognized by those skilled in the relevant art(s) thatallow it to receive instructions from computing device 126 and interpretand/or transmit them to robotic device 114, mini robotic device(s) 134a, 134 b or 134 c, the UCAT apparatus 116B or 116C, the mini basestations (or landing pads) 136, and/or any and all the components ofmobile base station 101B or 101C directly via cord(s) 118 b orwirelessly via corresponding wireless connectivity modules withincomputational hardware 108 and robotic device 114 and all othercomponents and sub systems of system. Furthermore, computationalhardware 108 may comprise components that allow it to control themovement of mobile base station 101 via a motor 115 housed within mobilebase station 101A or 101B, such movement based either according toinstructions directly from user 124, sent by computing device 126, sentby robotic device 114, or sent by UCAT apparatus 116A, 116B or 116C.Instructions may be sent by robotic device 114 or UCAT apparatus 116A,116B or 116C wirelessly or via cord(s) 118 b.

Computational hardware 108 may also be interconnected, either directlyvia wires and/or cables or wirelessly via wireless connectivity modules,to every component associated with system 100A, 100B or 100C in order tomonitor and/or control them. By way of example and not limitation,computational hardware 108 may be connected to material(s) reservoir 110via a connector 132 in order to monitor and control the transfer ofmaterials from reservoir 110 to robotic device 114. Computationalhardware 108 may additionally be connected to any pumps, heaters,compressors, valves, switches, supplemental devices 112, and similardevices as recognized by those skilled in the relevant art(s) that maybe integrated with system 100A, 100B or 100C in order to control theirfunction and performance. Likewise, computational hardware 108 may beconnected to power supply source 106 in order to control how much poweris sent to robotic device 114 and/or to initiate a power replenishmentor power supply process. In some aspects, computational hardware 108 isconfigured as a mobile computing device, such as a tablet or any similardevice as will be appreciated by those skilled in the relevant art(s)after reading the description herein.

In some aspects, supplemental device(s) 112 may comprise one or morestorage containers used to store various accessories 204 (FIG. 2) thatmay be used with robotic device 114 to assist in the performance ofvarious tasks, as will be outlined in greater detail below. By way ofexample and not limitation, accessories 204 are tools which may compriseslapping rag brushes, brushes, squeegees, blowers, shovels, scoops,spackling/putty knives, rags, welding components, sanders, sensors,components for additive manufacturing processes, and any similaraccessories as will be appreciated by those skilled in the relevantart(s) after reading the description herein. Mini robotic device(s) 134may have the ability to retrieve accessories 204 and attach/remove themto/from robotic device 114 as needed. The supplemental device(s) 112 mayinclude a vacuum unit or a suctioning device. The terms accessory, tool,and add-on are interchangeably used herein. Further, the mini roboticdevice(s) 134 a, 134 b or 134 c may be configured to retrieve thesecomponents and accessories from the base station or elsewhere and attachthem to the main robotic device 114 or other mini robotic device(s) 134a, 134 b, 134 c.

Supplemental device(s) 112, material(s) reservoir 110, computationalhardware 108, and power supply source 106 may all be physically andcommunicatively joined together via connectors 132. Connectors 132 maycomprise tubes, valves, sensors, switches, wires, wireless connectivitymodules, cables, pipes, or any other similar structures as will beappreciated by those skilled in the relevant art(s) after reading thedescription herein. Computational components, including controllers andprocessors, may be integrated with all the devices of system 100A, 100Bor 100C such as to allow them to communicate and function seamlesslywith one another.

In some aspects, robotic device 114 may be further integrated with adischarge or intake tube 140. Discharge or intake tube 140 may comprisea hollow, elongated member comprised of one or more polymers, metals,and/or fabric-like materials that functions to transport material(s)away from device 114 and release them into the environment or it maycollect material from the environment and relocate it through roboticvehicle 114 (and/or in coordination with the mini robotic devices 134 c)or transfer the material to a mobile or stationary base station. In someaspects, several discharge and/or intake tubes 140 may be attached tothe robotic device 114 and/or mobile base station 101A. By way ofexample and not limitation, robotic device 114 may engage in the task ofremoving snow from the top of a structure. Discharge or intake tube 140may take the snow away from robotic device 114 and disperse it onto theground. In another embodiment, collected material from discharge orintake tubes 117 may be transferred via the robotic device 114 and UCATsystem 116A to the mobile base station 101A for storage, processing ordisposal, including but not limited to expulsion via intake anddischarge tube 117.

In the embodiment of FIGS. 1B and 1C, in order to provide for an evendistribution of material(s), one or more mini devices 134 c maymove/reposition discharge or intake tube 140 as needed by attachingthereto via attachment mechanism 142. Similarly mini devices 134 a, 134b, or 134 c may move/reposition the discharge or intake tube 117. Themini device 134 c may be part of the UCAT assist system. Attachmentmechanism 142 may comprise one or more components made of one or morepolymers, metals, fabric-like materials, or similar elements as will beappreciated by those skilled in the relevant art(s) after reading thedescription herein. Attachment mechanism 142 may be rigid, semi-rigid,or flexible and may comprise hooks, claws, magnets, or other means ofattaching to discharge or intake tube 140 or 117 as will be appreciatedby those skilled in the relevant art(s) after reading the descriptionherein. In alternative aspects, discharge or intake tube 140 or 117 caneither release material(s) into the environment or transports them toreservoir 110 and/or supplemental device(s) 112 or compartments therein,or other containers not associated with system 100A, 100B or 1000 forstorage until they can be properly disposed of, processed, or otherwisedealt with. In such aspects, discharge or intake tube 140 or 117 may becompletely or partially integrated within the casing of the UCATapparatus 116A, 116B or 116C. As shown, the discharge or intake tube 140is separate from the casing of the UCAT apparatus 116A, 116B or 116C. Inan embodiment, the UCAT apparatus may include the casing tethering therobotic device 114 to the mobile base station and the casing of thedischarge or intake tube 140.

In some aspects, mobile base station 101A or reservoir 110 may befurther integrated with a discharge and/or intake tube 117. Thedischarge and/or intake tube 117 may comprise a hollow, elongated membercomprised of one or more polymers, metals, and/or fabric-like materialsthat functions to transport material(s) away from mobile base station101A and release them into the environment or it may collect materialfrom the environment and relocate it through the mobile base station101A (and/or in coordination with the mini robotic devices 134 d) ortransfer the material through the UCAT apparatus to robotic system 114or mini robotic systems 134 a or 134 b. In some aspects, severaldischarge and/or intake tubes 117 may be attached to the mobile basestation 101A. By way of example and not limitation, robotic device 114may engage in the task of irrigating crops. The discharge and/or intaketube 117 may be placed in a lake or pond and water transferred torobotic system 114 to irrigate the crops. Further in some instancessupplemental device(s) 112 and material(s) reservoir 110 may be utilizedto add, mix, filter, and prepare the lake or pond water with pesticides,fertilizers, seeds, etc. In another example, the discharge or intaketube 140 could be dropped into a pool and the pool water “sucked up”through the UCAT apparatus 116A, 116B or 116C and into the reservoir 110where it can be treated and discharged via the discharge and/or intaketube 117.

Referring now to FIG. 2, a perspective view of an aerial vehicle 214that may be used within system 100A, 100B or 100C having interchangeablearms for housing tools to perform a variety of tasks, according to anaspect of the present disclosure, is shown.

Aerial vehicle 214 is one of a variety of robotic devices 114 that maybe used with UCAT apparatus 116A, 116B or 116C and mobile base station101A, 101B or 101C. Any of the features discussed in conjunction withaerial vehicle 214 may be configured for integration with the moregeneral robotic device 114.

Aerial vehicle 214 may be capable of vertically taking off and landing,hovering and precisely maneuvering near walls and other structures.Aerial vehicle 214 may be a rotorcraft such as a multicopter (e.g., aquadcopter). Aerial vehicle 214 includes vehicle command and controlsystems 202, multiple rotor arms 216, one or more accessories 204capable of being “swapped out” in service by the mini robotic device, abase/UCAT connection portion 208, at least one sensor 210, and aprimary/backup/tertiary power source 224. In some aspects, aerialvehicle 214 includes additional elements, as shown in FIG. 3 and FIG. 5(the tablet 502 shown in FIG. 5). In other aspects, portions may beomitted from aerial vehicle 214. Each rotor arm 216 includes a rotor(i.e., rotor 218 a, 218 b, 218 c and 218 d) at an end portion of a boom(i.e., boom 220 a, 220 b, 220 c and 220 d). One or more of the booms 220a, 220 b, 220 c and 220 b may include one or more light emitting diodes(LEDs) 219, speakers or other communications sources.

The command and control system 202 receives inputs from sensorsincluding sensors 210 contained in a sensor area and may work withsensors on the ground, satellites, via a network or other connections)as well as omnidirectional sensor 212, from the mobile computing device502 shown in FIG. 5, from UCAT apparatus 116 (i.e., UCAT apparatus 116A,116B or 116C), and/or from mobile base station (i.e., mobile basestation 101A, 101B or 101C) in order to determine the positioning ofaerial vehicle 214 relative to its surroundings and for othertasks/operations. Command and control system 202 (or controlled by thetablet 502 or mobile computing device shown in FIG. 5) controls aplurality of rotors 218 a-218 d in order to pilot aerial vehicle 214,controlling altitude and attitude, including pitch, yaw and angularorientation. Command and control system 202 may receive instructionsfrom user 124 in multiple ways, including via an onboard device (i.e.,table 502 or mobile computing device) as shown in FIG. 5, with thedevice detached or attached to aerial vehicle 214, to fly to adesignated area and perform a task (e.g. paint a wall, cut in portionsof the wall, paint an image on a wall, and the like). Such instructionsmay be received via direct data connection, wireless data connection, orinput via an integrated input device, such as computing device 126. Insome aspects, computing device 126 is not integrated directly withaerial vehicle 214 and/or system 100A, 100B or 100C, but rathercommunicates with vehicle 214 and/or the rest of system 100A, 100B or100C via network connectivity, such as that provided by the global,public internet, via various data storage and communication modules aswill be recognized by those skilled in the relevant art(s). In such aconfiguration, computing device 126 may access system 100A, 100B or 100Cand/or aerial vehicle 214 remotely. Aerial vehicle 214 may operateautonomously after receiving instructions. In another aspect, a userpilots aerial vehicle 214 to the designated area and causes aerialvehicle 214 to perform the desired task by sending a series of commands(i.e., remote control operation) such as disclosed in U.S. patentapplication Ser. No. 14/730,187, entitled “MOBILE COMPUTING DEVICE-BASEDGUIDANCE NAVIGATION AND CONTROL FOR UNMANNED AERIAL VEHICLES AND ROBOTICSYSTEMS,” filed Jun. 3, 2015, incorporated herein by reference in theirentirety. One such command may be to paint a desired portion of a wallby flying in a raster or other pattern and spraying paint on the wallduring the flying of the pattern. Another command may be to “blot out”an electrical receptacle whereby the aerial vehicle 214 would paint theelectrical wall receptacle with the same paint of the same color as thesurrounding wall and would not cut in around the receptacle leaving itunpainted.

When the aerial vehicle 214 is used off-shore, wireless communicationsmay include marine communications, satellite communications and/orunderwater communications.

During autonomous or semi-autonomous operation, command and controlsystem 202 (or controlled by the tablet 502 shown in FIG. 5) utilizesthe sensors to position aerial vehicle 214 in advantageous positions andorientations in order to carry out the desired task. For example, whereaerial vehicle 214 is painting a structure, command and control system202 (or controlled by the tablet 502 shown in FIG. 5) pilots aerialvehicle 214 to an ideal distance away from the structure in order topaint the structure via accessory 204 adapted for painting, such as asprayer, a brush, or other instrument apparent to those skilled in therelevant art(s) after reading the description herein. For example,accessory 204 may comprise an elongated arm 231 having one connectionend 232 removably attached to the aerial vehicle 214 and an opposite endhaving a removable spray nozzle 206, such as without limitation, forapplying paint. Spray nozzle 206 may be configured to optimally applypaint when positioned normal to the surface being painted and offsetthree to six inches, or a variable distance as would be appropriatebased on the material(s) being applied, the volume of the application,as well as similar factors as will be recognized by those skilled in therelevant art(s) after reading the description herein. In this instancecommand and control system 202 (or controlled by the tablet 502 shown inFIG. 5) will detect the surface using sensors and pilot aerial vehicle214 to an attitude and position where spray nozzle 206 is within therequired distance and tolerance from the surface being painted based onthe application needs and is normal to the surface. In an embodiment,the accessory 204 is interchangeable.

Command and control system 202 (or controlled by the tablet 502 shown inFIG. 5, or a combination of system 202 and tablet 502) additionallycontrols the action of accessories 204. Accessories 204 may also containtheir own controllers or processors and information/data interfaces forthe purposes of connecting to and exchanging data with system 202 and/orsystem 100A, 100B or 100C. For example, a paint applicator is activatedby command and control system 202 when aerial vehicle 214 reaches thedesired location relative to the surface to be painted.

Command and control system 202 may be preprogrammed, controlled by thetablet 502 shown in FIG. 5, and/or controlled by the onboardcontroller/processor of an accessory 204 to determine a flight path topaint such an object or it may contain algorithms which determine,on-the-fly, the appropriate actions to take in order to paint thespecified surface(s). Further, monitors and sensors, including but notlimited to video cameras attached to aerial vehicle 214 or an arm or oneor more attachments can monitor the paint application and adjust thepaint flow or paint pressure or require aerial vehicle 214 to adjust inreal time or to complete an additional “pass” over the area with anotherspray for optimal paint application and coverage. That is, sensors suchas cameras may be used to detect “skips” or “holidays” (instances wherethe paint application is not optimal and some of the old paint color mayshow through). Further sensors such as Low-Voltage Pinhole Detectors orothers that, among other things, inspect various coatings on conductivesubstrates for holidays, pinholes and other small defects can beattached as modular add-ons (tools) 204 and with nozzle 206. Othersensors for determining paint thickness or depth (old or new paint or acombination thereof) can also be added. Based on this detection, commandand control system 202 may cause aerial vehicle 214 to repaint suchdeficient areas, report conditions to an operator, log the data, or takeother actions including but not limited to modifying the material beingapplied.

Aerial vehicle 214 may measure local environment properties such as theambient temperature, humidity and the like, access that informationremotely from a repository such as the Internet or from locally deployedenvironmental sensors (such as sensors in the mobile base station 101A,101B or 101C or the remote “micro weather/environmental” sensors) inorder to determine when to apply a subsequent coat of paint or toinitiate specified actions, such as, by way of example and notlimitation, to stop painting while a gust of wind passes and subsides.Furthermore, where aerial vehicle 214 is painting outside or performingother tasks in an outdoor environment, aerial vehicle 214 may beprogrammed to access weather forecast data from third party sources anddetermine the appropriate timeframe to complete such tasks.

Aerial vehicle 214 may also access the manufacturer of the paint ormaterial being applied or sprayed or a general knowledge repository suchas the internet for information about the material being applied such asoptimal viscosity, level or volume of material required for varioussurfaces (such as the microns of thickness the paint should be applied),known failures or best management practices of application of thematerial etc. Further, aerial vehicle 214 may also access themanufacturer of the structure or material being painted or coated forinformation such as physical layout and blueprints of the structure aswell as optimal coating material (i.e. paint or coating) to use on thephysical material (steel, aluminum, brick, wood, etc.) including bestmanagement practices for maintenance of the structure and structurematerial such as application best management practices or specificationsincluding but not limited to specific types of coatings to best ensurerust prevention or the integrity of the structure's materials.Additionally, aerial vehicle 214, mobile base station 101A, 101B or101C, tablet 502, and/or computing device 126 may access thearchitectural blueprints, drawings, and other information about thestructure from a local or remote database or data repository of themanufacturer, builder, surveyor, or similar source related to thestructure itself, its composition, construction, maintenance, as well asany similar aspects as will be recognized by those skilled in therelevant art(s).

Sensors on robotic device 114 or the UCAT apparatus 116A, 116B or 1160may analyze factors such as moisture content and the thickness ofconcrete, as well as the depth and condition of the reinforcement todetermine material to apply (paint, polymer, fiberglass, epoxy, liquidmetal, liquid or spray concrete, etc.), type of application (spray, globon [apply a lump of a semiliquid substance], roll or brush on, etc.),volume of material to use, etc. Further sensors such as dry or wet filmthickness digital gauge, ultrasonic thickness measuring devices, andothers can be utilized to provide environmental information. One toolmay include devices for air quality sampling and if the air quality wasvery acidic, for example near an industrial exhaust vent, the systemcould modify its materials application and the material itself toaccount for it. The aerial vehicle 214 may be configured for hazardousenvironments or varying environments. The hazardous environments mayinclude, without limitation, environments with hazardous materials inthe air and/or extreme temperatures. The camera or optical lenses of theon-board camera or lens of a tool may need to be protected by a coating(such as a hydrophobic coating) to maintain vision clarity through thelens. The chassis of the aerial vehicle 214 may be coated with amaterial to prevent corroding or other damage to the chassis as theresult of operation in hazardous environments.

In some applications, the task performed by the aerial vehicle may causean extreme environment for example, when using hot high pressure waterjets for cleaning. For example, cleaning of a heat exchanger with hothigh pressure water jets, when cleaning, may create a caustic or acidicenvironment. Thus, the aerial vehicle 214 may require coatings forprotecting one or more components from such caustic or acidicenvironment. Likewise, the mobile base station may require similarcoatings for some environments.

Accessory 204 may be an appendage or other member attached or removablyattachable to aerial vehicle 214. Accessory 204 may be changed in orderto adapt aerial vehicle 214 to specific uses. In some aspects, aerialvehicle 214 is capable of changing accessory 204 autonomously. In otheraspects, one or more separate aerial vehicles 214 and/or mini roboticdevices 134 (not shown in FIG. 2) may change accessory 204 with orwithout the assistance of the original aerial vehicle 214 (the onerequiring the change of accessory 204). Accessory 204 may comprise anaccessory tip 206, such as spray nozzle 206 as described above. In someaspects, aerial vehicle 214 comprises multiple accessories 204. Someaccessories 204 are equipped with sensors such as pressure sensors inorder to aid in precisely identifying the location of walls and thelike. Accessory 204 may include similar sensors to the sensors includedin sensor area 210. Some accessories 204 include functional appendagesthat affect actions such as spraying, rubbing or wiping, cutting,grabbing, cutting, sanding, polishing and more. In some aspects, anaccessory 204 may comprise multiple functionality parts and/oraccruements thereof in order to perform various tasks. By way of exampleand not limitation, a single accessory 204 may comprise a “scraper”portion to smooth or otherwise prepare a surface for coating as well asa portion for spray nozzle 206 in order to apply one or more coatingmaterials to the prepared surface.

Accessories 204 may be rigidly mounted to aerial vehicle 214 or they maybe mounted for movement. Accessory 204 mounted for movement may compriseone or more motors or actuators controllable by command and controlsystem 202 (or controlled by the tablet 502 shown in FIG. 5) in order toadjust the orientation of, for example, attached spray nozzle 206. Suchmovement is advantageous for cleaning, painting, orienting accessory 204to reach or point in directions that are otherwise inaccessible and thelike. Specifically, a painting accessory 204 attached for movement toaerial vehicle 214 may be pitched upward by causing motor to pointaccessory 204 upward, altering the attitude of aerial vehicle 214 bypitching a portion of the vehicle upward, or both, in order to cut innear the top of an interior wall. Such action may be necessary in orderto avoid running into the ceiling or other obstacle.

One or more accessories 204 may be a rotating brush or other cleaningdevice configured to clean portions of the surface aerial vehicle 214will paint, wash, or otherwise interact with. In this manner accessory204 may brush dirt or other material off the surface, ensuring thatpaint adheres to the surface more readily. Alternatively, cleaning andpolishing via aerial vehicle 214 may be facilitated.

Aerial vehicle 214 is configured to dock with mobile base station 101and/or a landing pad 400 or connect to/dock with UCAT apparatus 116A,116B or 116C via an underside portion of aerial vehicle such as baseconnection portion 208 or the base of the feet or landinglegs/wheels/skids 225. Base connection portion 208 includes power anddata connectors for recharging or otherwise refilling onboard powersource 224 and receiving or transmitting flight and operationinformation. Base connection portion 208 may also include connectionsfor receiving items such as paint, water, cleaning fluids, solidobjects, and the like. Base connection portion 208 connects to theaccessory 204 at connection end 232 and includes at least one connectionfor attachment to the cords of the UCAT apparatus 116A, 1168 or 116C.

Sensor area 210 includes one or more sensors which aid the operation ofaerial vehicle 214 by gathering information or data for operationalperformance matrixes and/or historical, environmental, and usageinformation/data. Sensors may include cameras, infrared sensors, thermalsensors, other visible spectrum sensors, GPS transceivers,magnetometers, laser range finders, sonar, LIDAR, radar, chip-scalecombinatorial atomic navigation (C-SCAN), Quantum Assisted Sensing(QuASAR), Visual Simultaneous Localization and Mapping (vSLAM), andother types of sensors or positioning devices apparent to those skilledin the relevant art(s) after reading the description herein. Inertialsensors, displacement sensors, gyroscopes, and other devices may also beintegrated into sensor area 210. The sensors at sensor area 210,omnidirectional sensor 212, sensors located on other portions of aerialvehicle 214 and command and control system 202, the mobile computingdevice 502 shown in FIG. 5, networked or remote computing devices 126and/or other devices may operate in concert to form a guidancenavigation and control system for aerial vehicle 214. Similarly,Infrared Relative Localization (IRLP), Angle Detection Systems, as wellas other similar systems as recognized by those skilled in the relevantart(s) may be used to facilitate guidance navigation and control, aswell as localization capabilities to determine where in space aerialvehicle 214 is. Additional sensors may have the capability to determineatmospheric compositions, including but not limited to oxygen levels,chlorine levels, and other gaseous levels. In some aspects, sensors maybe located on aerial vehicle 214 in areas other than sensor area 210,such as, by way of example and not limitation, the body of aerialvehicle 214, attachments affixed to aerial vehicle 214, and otherportions of vehicle 214, including hanging therefrom. In yet someadditional aspects, sensors may be located remotely from vehicle 214,such as on UCAT apparatus 116A, 116B or 116C, mobile base station 101A,101B or 101C, a building, a tree, or any other location as will beappreciated by those skilled in the relevant art(s) after reading thedescription herein.

Aerial vehicle 214 may further include one or more visual or audio alertdevices such as speakers, LEDs, and the like. Such alert devices may beutilized to warn bystanders to avoid aerial vehicle 214, indicatevarious statuses of aerial vehicle 214 (e.g., battery status, onboardsupply status, task completion status). Similarly, input devices such asmicrophones and cameras located on aerial vehicle 214 itself or withinattachments therewith may be utilized to receive commands andinformation or data in audio or visual format from its surroundings inorder to identify animals, machine noises, humans, voices, trafficsounds, and similar environmental occurrences in order to alert aerialvehicle 214 as well as other components of system 100A, 100B or 100C,robotic device 114 or mobile computing device 126 of unexpectedsituations and/or instructions that may require a reaction on the partof vehicle 214 and/or other system components.

In some aspects, aerial vehicle 214 is battery powered and power source224 is a rechargeable battery. In other aspects, aerial vehicle ispowered by liquid or gaseous fuels and power source 224 is a storagetank for such fuel. Aerial vehicle 214 may also be powered by UCATapparatus 116A, 116B or 116C connected to mobile base station 101A, 101Bor 101C, or another location such as an electrical outlet.

In some aspects, aerial vehicle 214 may upload data from its use to aremote database. The remote database may receive data from one aerialvehicle 214 or many aerial vehicles 214. The remote database may storeinformation related to the locations of buildings aerial vehicles 214work on, the conditions of the surfaces being painted and/or cleaned,weather conditions at time of operation, the amount of paint or cleanerused and the like. Among other things, collection of this informationallows an aerial vehicle producer to track efficiency of aerial vehiclesmodels, identify improvements that can be made and proactively informusers that a particular aerial vehicle 214 is functioning poorly whichmay indicate a problem.

Referring now to FIG. 3, a perspective view of an aerial vehicle 314having multiple add-on attachment points 332 a, 332 b and 332 c,according to various aspects of the present disclosure, is shown. Theaerial vehicle 314 is similar to aerial vehicle 214 thus only thedifferences will be described in detail. Aerial vehicle 314 may bemodular in that add-ons (tools) 304 a, 304 b and 304 c may be attachedand detached at attachment points 332 a, 332 b and 332 c. In anembodiment, the attachment point 332 b may be coupled to a respectiveone boom. Attachment points 332 a, 332 b and 332 c may be locatedanywhere on aerial vehicle 314. An add-on (tool) 304 a, 304 b and 304 cmay include an elongated arm 331 a, 331 b and 331 c, respectively,connectable to one of many end effectors or nozzles 306 a, 306 b, and306 c, respectively. The elongated arm 331 b is an off-set arm. Theelongated arms such as elongated arm 331 b may be “flexible”, “bendable”or “articulable” as well as having a fixed offset. Attachment points 332a, 332 b and 332 c may be located at a variety of locations on aerialvehicle 314. Multiple add-ons (tools) 304 a, 304 b and 304 c may bemounted on aerial vehicle 314 simultaneously.

Returning again to FIG. 2, aerial vehicle 214 may have legs/wheels/skids225 to enable it land and/or roll along a floor or inclined surface (topaint baseboards, etc.). Such legs/wheels/skids 225 may also be utilizedto connect to mobile base station (i.e., mobile base station 101A, 1018or 101C) or other location to receive power, refill onboard power source224 and receive or transmit flight and operation information. Further,legs/wheels/skids 225 may be configured to receiving items such aspaint, water, cleaning fluids, solid objects, and the like. In otheroperations, legs/wheels/skids 225 can be utilized for travel over land,liquid water, ice, or snow to reach the intended destination withoutaerial vehicle 214 having to fly or leave the ground surface.

In some aspects, aerial vehicle 214 or 314 may comprise container 1632,as best seen in FIG. 16, as will be described in more detail in relationto FIG. 16. Container (i.e., container 1632) may hold liquid or othermaterial to be dispersed. In some aspects, such as aerial vehicle 214 or314 includes an accessory 204 or 304 a, 304 b, 304 c such as a vacuumaccessory, a “scoop” or similar accessory, or any of a number ofaccessories to retrieve/receive material including gases, liquids,solids, small animals and insects, soil samples, etc. The container(i.e., container 1632) may be configured to hold the collected material.The contents of container (i.e., container 1632) may be filled oremptied by user 124, by portions of mobile base station 101A, 101B or101C, or by an automatic container “rotator” that is part of the landingpad shown in FIGS. 4A and 4B, and/or transferred to mobile base station101A, 101B or 101C via UCAT apparatus 116A, 116B or 116C. Containers(i.e., container 1632) may be modular and detachable via containerconnectors, thereby enabling aerial vehicle 214 or 314 to rapidlyconnect to and disconnect from the container (i.e., container 1632). Insome aspects, the connection is performed autonomously. In some aspects,container (i.e., container 1632) is a one-gallon, one-quart, or otherstandard size container, such as the size of a paint can.

Aerial vehicle 214 or 314 may be attached to the ground or mobile basestation 101A, 101B or 101C via UCAT apparatus 116A, 116B or 116C. Insome aspects, UCAT apparatus 116A, 116B or 116C is electricallyconnected to aerial vehicle 214 or 314 and connected to the local powergrid via, for example, a domestic outlet, in order to provide power toaerial vehicle. UCAT apparatus 116A, 116B or 116C may be connected tocontainer (i.e., container 1632) or another portion of aerial vehicle inorder to provide, receive, or discharge fluids or other material. Thesystem 100A, 100B, or 100C, UCAT apparatus 116A, 116B or 116C and aerialvehicle 214 or 314 are designed to be used in underwater and otherenvironments such as inside pipes, ducts, or crawl spaces.

Referring now to FIG. 4A, a perspective view of a landing pad 400Ahaving markings and being configured to provide power, material, anddata connections to aerial vehicle 214, according to an aspect of thepresent disclosure, is shown.

Landing pad 400A may be integrated with mobile base station 101A, 101Eor 101C and/or UCAT apparatus 116A, 116B or 116C in order to provide analternative means of providing power and data connectivity to roboticdevice 114, mini robotic device(s) 134, and/or other components ofsystem 100A, 101B, or 101C, particularly when devices 114 and/or 134and/or the other components are in the form of aerial vehicle 214 or314, and may further act as a landing pad/storage interface for any ofthe devices and/or components that may be used with system 100A, 100B or100C. Landing pad 400A is an example of a specific type of station thatmay be used with system 100A, 100B or 100/c. Any means fulfilled bylanding pad 400A may be performed equally well by mobile base station101A, 101B or 101C, either independently from or in conjunction withlanding pad 400A. Landing pad 400A provides power, data, and fluidreservoirs 412 for aerial vehicle 214 in order to facilitate operations.In some aspects, landing pad 400A may be mountable on top of amaterial(s) reservoir 110, such as a five-gallon paint bucket. In otheraspects, landing pad 400A or a modified version thereof is mounted onUCAT apparatus 116A, 116B or 116C or other locations such as on a tower,bridge, building, or similar structure as will be apparent to thoseskilled in the relevant art(s) after reading the description herein. Thelanding pad 400A may be placed on the ground in the working area butshould not interfere with the movement of the mobile base station. Asdescribed later, the landing pad may be located on the mobile basestation.

Landing pad 400A includes a landing pad marking 402. Landing pad marking402 may be machine readable markings to assist aerial vehicle 214 duringlanding. Landing pad 400A may employ sensors 470, GPS 472, emitters 474,and/or other computational components (CC) 476 to assist aerial vehicle214 in determining and monitoring aerial vehicle 214 location, as wellas to communicate with other computational devices within system 100.Landing pad 400A may also include power and data connections 404 a and404 b in FIG. 4A which aerial vehicle 214 connects with upon landing.The power and data connections 404 a and 404 b may be used to charge theaerial vehicle 214. Landing pad 400A may be a fabric-like or plasticmaterial that can be “rolled up” or “rolled out” for use by aerialvehicle 214. A power supply 408 is electrically connected to powerconnections 404 a and 404 b. In some aspects, power supply 408 is abattery, a rechargeable power source, or an independent power sourcesuch as liquid or gaseous fuels. In alternative aspects, power supply408 may be a transformer or power converter connected to an electricalsource such as a domestic power outlet providing AC power. Otherconfigurations of power source 408 may be used as will be apparent tothose skilled in the relevant art(s) after reading the descriptionherein. In still other aspects, power supply 408 may be power supplysource 106. Reservoir 110 and/or one or more supplemental devices 112(represented by 412 as an embodiment in FIG. 4A, for simplicity andclarity) containing selected fluids or other materials may be integratedor otherwise connected to landing pad 400A in order to provide suchmaterial(s) to aerial vehicle 214. Landing pad 400A further includes aplatform 406 configured to attach the landing pad to other physicaldevices or objects. In some aspects, platform 406 is configured toattach to bucket 802 shown in FIG. 8 in order to facilitate painting andother operations. In other aspects, platform 406 may be attached to UCATapparatus 116A, 116B or 116C or other locations such as on towers,bridges, buildings, or similar structures as will be apparent to thoseskilled in the relevant art(s) after reading the description herein.

FIG. 4B is a perspective view of a landing pad 400B using beacons andbeing configured to provide power, material, and data connections to anaerial vehicle 214, according to an aspect of the present disclosure.FIG. 4B is similar to the landing pad 400A thus only differences will bedescribed. The landing pad 400B includes beacons 407. The beacons mayinclude LEDs, radio frequency beacons, sonar, etc. such as withoutlimitation, infrared LED lights detectable by the aerial vehicle 214 toassist in landing.

Referring now to FIG. 5, a top view of aerial vehicle 514 including aremovable mobile computing device 502, according to an aspect of thepresent disclosure, is shown.

Mobile device 502 is a mobile computing device such as a tabletcomputer. Mobile device 502 may be a commercial off-the-shelf (COTS)tablet computing device or a customer computing device. In some aspects,mobile device 502 operates via an operating system and/or softwaredesigned specifically for use with aerial vehicle 514 and/or system100A, 100B or 100C. The operating system and software may be containedwithin various computing modules and components as will be recognized bythose skilled in the relevant art(s). Mobile device 502 is removablefrom aerial vehicle 514 and is used by a system user 124 to providecommand and control for aerial vehicle 514 or is removed and thenreattached to aerial vehicle 514. Mobile device 502 may also be used toactively or passively provide guidance, navigation and control signalsto aerial vehicle 514.

Mobile device 502 connects to the system components of aerial vehicle514 via wireless or wired connection or when attached to aerial vehicle514. Via this connection, mobile device 502 also receives input signalsfrom sensors onboard aerial vehicle 514, as well as from other sourcesincluding UCAT apparatus 116A, 116B or 116C, mobile base station 101A,101B or 101C, and/or other components of system 100A, 101B or 101C.Mobile device 502 may also include sensors which assist in determiningthe attitude, elevation, distance from objects, and location of aerialvehicle 514 such as a gyroscope, an accelerometer, one or more cameras,and the like. In some aspects, when connected to aerial vehicle 514,mobile device 502 handles all guidance, navigation, and control foraerial vehicle 514, including the operation of attachments such as spraynozzle 506 and other painting or task oriented attachments. In otheraspects, mobile device 502 handles the majority of such functionality. Auser may physically detach mobile device 502 from aerial vehicle 514and, via a user interface, provide operation instructions for aerialvehicle 514 such as a desired flight path, task to be completed, and thelike. The aerial vehicle 514 may include a drone, UAV, robotic device114, a waterproof robotic device or a waterproof UAV.

Referring now to FIG. 6, a dataflow diagram depicting certain wirelessoperations of UCAT operations system 600, according to an aspect of thepresent disclosure, is shown.

UCAT operations system 600 comprises mobile base station 601 and aerialvehicle 614 (i.e., aerial vehicle 214, 314 or 514). Aerial vehicle 614includes mobile device 602 containing command and control system modules603 for communicating with an embedded command and control systemonboard aerial vehicle 614 of UCAT operations system 600. User (i.e.,user 124) may input commands via mobile device 602. Mobile base station601 includes a command override module 621 and user controls whichenable user (i.e., user 124) to deactivate aerial vehicle 614 orotherwise cause aerial vehicle 614 to return to mobile base station 601or the ground should the need arise prior to the completion of theflight path provided to mobile device 602. In some aspects, anotherdevice is included, such as a cellular transceiver, cellular telephone,tablet, or portions thereof which can communicate with mobile basestation 601, aerial vehicle 614, or both devices and send overridecommands to aerial vehicle 614. In some aspects, commands provided tomodule 602 are general (e.g., proceed to position X, scan the wall,process the scan, determine areas to be painted and paint the wall) andcommand and control module 602 determines the appropriate actions tocarry out the command. In other aspects, command module 602 receives ageneral command and generates sub-commands in order to execute thegeneral command. Aerial vehicle 614 may transmit data and informationback to mobile base station 601. In some aspects, the landing pad 400Aor 400B may provide some of the functionality described in relation tothe mobile base station 600 of FIG. 6 such as for communicating with themini robotic devices 134 a, 134 b or 134 c.

Referring now to FIG. 7, a dataflow diagram depicting certain wirelessoperation of UCAT operations system 700, according to an aspect of thepresent disclosure, is shown.

UCAT operations system 700 comprises robotic device 714 (i.e., roboticdevice 114 or aerial device 214 314, or 514), UCAT apparatus 716 (i.e.,UCAT apparatus 116A, 116B, or 116C), mobile base station 701 (i.e.,mobile base station 101A, 101B or 101C), and, in some aspects, computingdevice 726 (i.e., computing device 126). Robotic device 714 and UCATapparatus 716 include command and control system modules 703 and 704,respectively, for communicating within UCAT operations system 700.Similarly, mobile base station 701 includes a command override module721 and user controls which enable user (i.e., user 124) to deactivaterobotic device 714 or otherwise cause robotic device 714 to return tomobile base station 701 and/or the ground should the need arise prior tothe completion of the designated task provided to command and controlmodule 702. In some aspects, computing device 726 may communicate withmobile base station 701 and send override commands to robotic device 714to deactivate it or otherwise cause it to return to mobile base station701 and/or the ground before its task is completed. In some aspects,commands provided to module 702 are general (e.g., proceed to positionX, scan the wall, process the scan, determine areas to be painted andpaint the wall) and command and control module 702 determines theappropriate actions to carry out the command. In other aspects, commandmodule 702 receives a general command and generates sub-commands inorder to execute the general command. Robotic device 714 may transmitdata and information back to mobile base station 701, which may in turn,in some aspects, transfer data and information back to computing device726.

It is further noted that any component of UCAT operations system 700 mayhave the capability to communicate with and/or send/receive data to/fromany other component of system 700. Thus, dataflow is in no way limitedto the representation of FIG. 7. Specifically, mini robotic device(s)134 a, 134 b and 134 c (FIG. 1A, 1B or 1C), as well as other devices aswill be appreciated by those skilled in the relevant art(s) afterreading the description herein, may send/receive communications/datato/from mobile base station 701, UCAT apparatus 716, computing device726, and any other component associated with system 700.

Referring now to FIG. 8, a side view of a container system 800configurable as material(s) reservoir 110, and/or supplemental device112 (shown as bucket 802 in FIG. 8) and connectable to mobile basestation 101A, 101B or 1010 and capable of providing paint, fluid mediumor other materials for use by robotic device 114, according to an aspectof the present disclosure, is shown.

In aspect, mobile base station 101A, 101B or 101C further comprisesmaterial(s) reservoir 110 configured as a container system 800. Thecontainer system 800 may include a bucket 802, which comprises anagitator 804, a siphon 806, and a sensor 810 connected to mobile basestation 101A, 101B or 101C via sensor connector 808, for maintaining theappropriate mixture of a large volume of paint during the performance ofa painting task by robotic device 114 (e.g., painting an interior room,painting the exterior of a building, dam, tower, etc.). Agitator 804maintains the mixture of paint and may be activated at preset intervalsor in response to sensor data. Siphon 806 removes paint from bucket 802and supplies it to robotic device 114 when needed. The siphon 806includes a filtered tip 803 to strain the paint mixture, fluid medium orother material. Sensor 810 detects, for example, the level of paint andthe paint viscosity within bucket 802 in order to alert a user when thepaint level is low, that a job will require more paint than available,or to automatically add material(s) in order to maintain optimalviscosity. Siphon 806 may also be used to transfer liquid into bucket802 such as paint thinner or water to ensure the material(s) in bucket802 is of the correct viscosity and consistency. In some aspects, acompressor may be integrated as a supplemental device 112 with bucket802 in order to provide nozzle 206 or another accessory 204, such as aspray wand, on robotic device 114 with an appropriately pressurizedstream of paint. In some additional aspects, mixing/stirring elementsmay be integrated within bucket 802 in order to mix-in additionalmaterial(s) supplied by supplemental device(s) 112 via connector(s) 132or from within other portions of bucket 802, such as paint thinner orother liquids and/or non-liquids, such as aluminum flakes, zinc,epoxies, glass (including molten or liquid glass), sand, and similarsubstances as will become apparent to those skilled in the relevantart(s) after reading the description herein.

In an aspect, robotic device 114 may be configured as a crop duster. Insuch an aspect, robotic device 114 may comprise aerial vehicle 214,which may fly between rows of crops (e.g., corn) and spray fertilizer,pesticide, or other desired materials on the crops wherein the fluidmedium is a fertilizer, pesticide or other desire materials, includingwithout limitation, water.

In an aspect, robotic device 114 may be configured to wash an object. Insuch an aspect, mobile base station 101A, 1018 or 101C may comprisematerial(s) reservoir 110 and a supplemental device 112 configured as awater holding tank and a cleaning solution tank configured to hold afluid medium such as water or cleaning solution. By way of non-limitingexample, the water holding tank and cleaning solution tank may beconnected to each other via connector(s) 132 and attached to a waterpump as one of supplemental devices 112 in such a way as to provide astream of pressurized water mixed with cleaning solution to a tube(i.e., cord 118 d) running through UCAT apparatus 116A, 116B or 116C tonozzle 206 on robotic device 114. The water holding tank may be attachedto a water source via a hose. In some aspects, computing device 126,computational hardware 108, and/or other computing devices within system100A, 100E or 100C may be used to control and/or adjust the ratio ofwater to cleaning solution within the mixture. In some aspects, thewater tank is further integrated with a water heater as an additionalsupplemental device 112. The water heater may be powered by any methodas recognized by those skilled in the relevant art(s), including ACpower, DC power, solar power, and the like. Further, monitors andsensors, including video cameras attached to robotic device 114 or oneor more attachments thereto can monitor the flow of water emitted fromnozzle 206 and adjust the flow level and/or water pressure, or requirerobotic device 114 to adjust in real time or to complete an additional“pass” over an area with another spray for optimal cleansing coverage inresponse to detected spots that do not meet set standards ofcleanliness. Based on this detection, command and control module 702 maycause robotic device 114 to rewash such deficient areas.

In an aspect, robotic device 114 is configured to construct and/orrepair an object. In such an aspect, mobile base station 101A, 101B or101C comprises material(s) reservoir 110 and/or one or more supplementaldevices 112 that may contain one or more solid or liquid materials, suchas liquid polymers and resins, ultraviolet (UV) curable coatings,emulsions, chemicals, glues, powders, nanoparticles, graphite, liquidmetals, liquid concrete, expanding foams, abrasives (for cleaning and/orprepping a surface), and similar substances as will be appreciated bythose skilled in the relevant art(s) after reading the descriptionherein. For example, if a hull of a boat becomes damaged, the roboticdevice 114 may be used to fill a hole in the hull with foam, elastomeror other materials until patched the hole. Multiple layers of materialmay be applied to enhance the stability of the patch. Heating deviceswithin reservoir 110 and/or configured as or within supplementaldevice(s) 112 or within robotic device 114 may convert a solid materialto and/or maintain the liquid state of one or more materials withinreservoir 110, device(s) 112, and/or robotic device 114. Correspondingheating devices may be contained within cord(s) 118 d and/or UCATapparatus 116A, 116B or 116C to further maintain the liquid state of thematerial(s). By way of non-limiting example, the liquid material(s) maybe transferred to nozzle 206 on robotic device 114 by cord(s) 118 dconfigured as one or more tubes running through UCAT apparatus 116A,116B or 116C where the material(s) are then secreted in thin layers inorder to build and/or fix an object. In some further applications, theadditive layers of secreted material(s) may be built up in order to formstructures, walls, buildings, or similar objects as will be appreciatedby those skilled in the relevant art(s) after reading the descriptionherein. Additionally, the additive layers may be produced bycomputer-controlled processes similar to those that are currently knownin the art for creating three-dimensional objects from athree-dimensional model or other electronic data source. Similarly,material(s) reservoir 110 and/or supplemental device(s) 112 may beconfigured to supply a plastic line feed to robotic device 114 where itis then heated and deposited in sequential layers in order to engage ina process akin to 3D printing.

Referring now to the tools, FIGS. 9A-9E and FIGS. 10A-10I are views of avariety of tools (modular add-ons) usable with an aerial vehicle,according to aspects of the present disclosure. Add-ons (tools) shown inFIGS. 9A-9E and 10A-10I may be attached to robotic device 114 via quickconnections 902 at the end of arm extension 914. The length of theextension 914 may vary depending on the tool and the extension lengthmay be configurable with expanding/collapsing or telescopingcapabilities. Add-ons (tools) may take the place of one or moreaccessories 204 or may augment accessories 204. Add-ons include, but arenot limited to, those depicted in FIGS. 9A-9E and 10A-101. Each add-on(tool) may be connected at accessory tip 206 (FIG. 2) and may be addedto or removed from robotic device 114 autonomously by retrieval frommobile platform 102A, 102B or 102C of mobile base station 101A, 101B or101C or similar staging area on the mobile base station or any otherappropriate location as will be appreciated by those skilled in therelevant art(s) after reading the description herein. In some aspects,mini robotic device(s) 134 assist robotic device 114 with the attachmentand detachment of the add-ons. The main robotic device 114 canautomatically attach and/or detach tools by picking them up from astaging area on the mobile base station or elsewhere.

The add-ons are tools which may be selected which allow for multiplepainting techniques or effects. For example, an add-on (tool) mayposition a stencil while a paint sprayer accessory applies the paint.Other effects may be produced such as creating a “stipple” paint effectby spraying the paint with one arm and then having the other arm,containing a stipple brush, make contact with the wall with rapidconnecting motions. Additional effects including, but not limited to,Shou-sugi-ban (the Japanese charring of wood aka “burning” wood sidingor other materials), “rag wipe”, sponge, running a stiff bristle “broom”through the paint to create lines, etc. can also be achieved. Theburning (i.e. pre-burning or scorching) of wood may be used as a fireretardant.

The add-ons (tools) may include an arm to distribute solid materials(granules of fertilizer, shredded bark or mulch, etc.). The attachmentend could “spin” similar to a broadcast spreader or it could vibrate andsprinkle material. The “broadcast spread” component/attachment alsospreads chemicals, salt, ash, and other materials for ice and snowremoval/control. An add-on (tool) may comprise an arm or end to pull,move, remove, and/or relocate unwanted materials (trash/litter, weeds,etc.).

FIG. 9C illustrates a brush add-on 904 which may be attached to roboticdevice 114 to facilitate cleaning a vertical or horizontal surface. FIG.9D illustrates a squeegee add-on 906 which may be used to clean windowsand may further comprise a motorized rotating portion. FIG. 9Aillustrates a sprayer add-on 908 which can be used to spray air or waterin order to, for example, clean objects or vacuum items. FIG. 9Billustrates a sensor add-on 910 which may be utilized to sample airquality, particulate matter concentrations, radiation and the like. Thesensor add-on 910 may further comprise an arm extension 914 and one ormore filters 912 shown as a dashed line box. Overspray guard add-on 916may comprise a physical barrier useful for preventing paint fromdripping or spraying onto undesirable locations.

FIG. 10A illustrates an add-on (tool) which may be a material collectorarm scoop 1002. Scoop 1002 may be an electric or mechanical “scoop” likewand/arm extension. When scooping materials, a suctioning or vacuumingforce may be created through the scoop 1002 such that the material iscommunicated back to the mobile base station via the UCAT apparatus orthrough the discharge or intake tube 140. For example, the scoop 1002may include a hole shown in dashed lines.

FIG. 10B illustrates a material collector arm drill add-on 1004 whichmay be an electric or mechanical “drill” like wand/arm extension.Material collector arm scoop 1002 which may be an electric or mechanical“scoop” like wand/arm extension “back scoop” that can pivot and pullmaterial(s) into it.

FIG. 10C illustrates a material collector arm claw 1006 which may be anelectric or mechanical “claw” like wand/arm extension that can pivot andgrab material(s) to it. The arm of claw 1006 is articulating andincludes a pivoted joint 1007. The arm of claw 1006 may be controlledusing wired or wireless communications to control the articulation ormovement of the arm about pivoted joint 1007. Thus, the arm of claw 1006may be equipped with wireless or wired communication modules to receivecontrol commands. As can be appreciated one or more of the add-ons ortools described herein may also include an articulating arm with apivoted joint. All connections between the arms and the robotic device;the connections between the arm and nozzle; the connection between therobotic device and the UCAT apparatus; the connection between the UCATapparatus and the mobile base station; the connection of the dischargeor inlet tube may all have multiple degrees of freedom (flexibility)such as by articulation and/or pivoting. In an aspect of the disclosure,the connection may include wireless or wired communications for movementcontrol such as without limitation articulation control and/or pivotingcontrol.

FIG. 10G illustrates a twisting/screwing material cutter and collector100B which is an example appendage that can be added to the end/tip ofthe Wand/Arm or it can be part of an entire modular and replaceableWand/Arm that can burrow, cut, or drill into materials to extractsamples or cut and shape external material. This collection ofappendages may be capable of depositing substances into the materialbeing cut or drilled. Such substances may comprise liquids such aswater, chemicals, gases such as oxygen and argon, and solids andsemisolids such as sand, epoxies, and liquid metals. Other similarsubstances may be deposited into the material as may become apparent tothose skilled in the relevant art(s) after reading the descriptionherein.

FIGS. 10F and 101 illustrate a cutter 1010 and cutter 1012 which aresimilar devices displaying various cutting techniques. Cutter 1010 hasan array of rough/sharp protrusions, or “teeth,’ and may rotate,vibrate, or otherwise similarly move in order to insert itself intomaterials. Cutter 1012 is smoother in that it does not have “teeth” andmay therefore extract material(s) with a lesser chance of damaging oraltering them and/or the surrounding environment. Additionally, cutter1012 may be used to collect material(s) that have a differentcomposition then the ones collected using cutter 1010. When extractingmaterials using cutter 1012, a suctioning or vacuuming force may becreated through the cutter via a hole (represented in a dashed line)such that the material is communicated back to the mobile base stationvia the UCAT apparatus or through the discharge or intake tube 140.

FIG. 10H illustrates puncturing material cutter and collector add-on1014 which is an example appendage that can be added to the end/tip ofthe Wand/Arm or it can be part of an entire modular and replaceableWand/Arm that can burrow or cut or drill into materials to extractsamples or cut and shape external material. The puncturing materialcutter and collector add-on 1014 includes a collector receiver 1015wherein while drilling, a suctioning or vacuuming force is created suchthat dust or particulate matter created as the result of drilling isvacuumed into the receiver 1015 in the direction of the arrow. Thecollected material may travel to the mobile base station 101A, 101B or101C via the discharge or intake tube 140 or a return flow in the UCATapparatus.

FIGS. 10D and 10E illustrate aerator or probe add-ons 1016 and 1018which may be used to burrow, cut, or drill into materials to extractsamples or cut and shape external material. Furthermore, aerator orprobe add-ons 1016 and 1018 may be used to push against or into materialto insert liquids, solids (pellets) or gasses that can push/puncture,drill, or penetrate into materials or to extract liquids, solids, orgasses.

FIGS. 21A-21E are views of tools (modular add-ons) usable with an aerialvehicle, according to aspects of the present disclosure. FIG. 21Aillustrates a sonar detector 2102 configured to send sonar in thedirection of surface 2120 to detect surface 2120 wherein surface 2120may be submerged underwater. FIG. 21B illustrates a sensor 2104configured to detect the thickness of a coating 2122 on surface 2120.The coating may include paint, coating or other material on a surface2120. By way of non-limiting example, when paint or coating is applied,a certain thickness may be required. The sensor 2104 may detect thethickness of the paint or coating to identify any variations. In thisexample, the dispensed tool output may be the signal propagated in thedirection of the surface 2120 and the sensed signal (thickness) which isthen communicated to the mobile base station 101A, 101B or 101C and/ormobile computing device 126. In some embodiments, the sensor 2104 mayinclude a probe which makes contact with the surface and coating 2122such as for “non-destructive testing”. The sensor 2104 may include atelescopic arm 2105 having a plurality of telescopic sections. In anembodiment, one or more add-ons described herein may include atelescopic arm. In one or more embodiments, the telescoping function(lengthening or shortening) of the telescopic arm may be control by therobotic device 114, mobile base station 101A, 1018 or 101C and/or mobilecomputing device 126. FIG. 21C illustrates an infrared sensor 2106configured to sense infrared wavelengths from surface 2120. Surface 2106may include ground material or other materials. FIG. 21D illustrates aprobe 2108 having probe members 2109 configured to make direct contactwith surface 2120 such as for sensing at least one parameter includingtemperature or thickness. FIG. 21E illustrates a welding tool 2110having a nozzle configured to dispense a flame therefrom in thedirection of surface 2120. In some embodiment, welding may take placeabove ground, above water or underwater for repairing surface 2120 orfor building. Acetylene, propane, oxyacetylene or a compressed gas maybe used. The gas may be housed in the mobile base station 101A, 101B or101C and transferred from the mobile base station through the UCATapparatus 116A, 116B or 116C to the welding tool 2110. The gas may beignited at the tool 2110 and used for cutting, welding, solder, weedburning, ice and snow melting, etc.

FIG. 17 illustrates a torch tool 1702 with a material reservoir 1721.The torch tool 1702 may be used for thermal spraying applications.Thermal spraying may include a process for applying a coating in whichmelted (or heated) materials are sprayed onto a surface. Thermalspraying may apply a coatings (approx. thickness range is 20 micrometersto several mm, depending on the process and feedstock) over an area at ahigh deposition rate as compared to other coating processes such aselectroplating, physical and chemical vapor deposition. Coatingmaterials for thermal spraying may include, without limitation, metals,alloys, ceramics, plastics and composites. The coating materials mayinclude a powder stored in material reservoir 1721 which is interjectedin the flow of the fluid medium flow into the tool 1702 which may beheated to a molten or semi-molten state and accelerated towardssubstrates or surfaces in the form of micrometer-size particles. Thematerial reservoir 1721 may include a lid 1719 to replenish thereservoir 1721. The reservoir 1721 may store a wire which can bedispensed therefrom wherein heat would heat the wire to a molten orsemi-molten state. In some instances, the materials reservoir would bepart of mobile base station 101A and transferred to the torch tool 1702via the UCAT apparatus 116A.

Also flame powder spraying is another coating with an anti-corrosionsolution may be performed. The flame powder spraying may be used forOffshore Oil and Gas or other structures.

Referring now to FIG. 11A, a flowchart illustrating an process 1100 fora user to initiate a material and/or power supply replenishment processfor a robotic device 114 via a mobile base station 101A, 101B or 101Cwith a UCAT apparatus 116A, 116B or 116C, according to an aspect of thepresent disclosure, is shown. Thus, the process 1100 will be describedin relation to the UCAT operations systems of FIGS. 1A, 1B and 1C.However, the process may be applied to other UCAT operations systemsdescribed herein.

Process 1100 begins at step 1102 with control passing immediately tostep 1104.

At step 1104, user 124 powers on the mobile base station 101A, 101B or1010 and computing device 126.

At step 1106, user 124 may use computing device 126 to select one ormore tasks and send instructions for performing the task(s) to roboticdevice 114. The user may use mobile base station 101A, 101B or 101C toselect one or more tasks and send instructions for performing theselected task to robotic device 114. To do this, user 124 first inputsthe instructions into computing device 126 (or mobile base station 101A,101B or 101C) or selects them from a pre-generated set of instructionsvia, by way of example and not limitation, a touchscreen interface orsimilar non-touchscreen user interface as recognized by those skilled inthe relevant art(s). By way of example and not limitation, tasks mycomprise washing something, painting something, building something,repairing something, depositing or collecting something, crop dusting,or any other activity that will be appreciated by those skilled in therelevant art(s) after reading the description herein, particularlyrepetitive/dull/labor-intensive activities. Instructions may furtherinclude what materials to use, what type of movements to make, how muchtime to take, and similar specifications as will be appreciated by thoseskilled in the relevant art(s) after reading the description herein.Instructions may comprise one or more photographs, schematics,architectural drawings, or images captured by or imported to computingdevice 126 or mobile base station 101A, 101E or 101C. Portions ofobjects within the photographs or images and/or any generated thermalpatterns, surface condition analyses, and/or any similar visualrepresentations of an object may be selected by user 124 to be painted,washed, repaired, or otherwise modified by robotic device 114. Thephotographs and/or images may be captured in real time by a camerawithin computing device 126, mobile base station 101A, 101B or 1010 orthey may be generated beforehand by being pulled from third-partydatabases (e.g., a database associated with the Google Streetview®service (available from Google, Inc. of Mountain View, Calif.) or thelike).

In some aspects, mobile computing device 126 may analyze the imagesand/or photographs and present user 124 with candidate areas to beworked on that user 124 may accept or decline. In instances where user124 declines the candidate areas, user 124 may select custom areas. Oncethe instructions have been entered into computing device 126 or mobilebase station 101A, 101B or 101C, they are sent to computational hardware108 within mobile base station 101A, 101B, or 101C via wired or wirelessconnectivity. In some alternative aspects, user 124 enters theinstructions directly into computational hardware 108 via a userinterface. Once the instructions are received by computational hardware108, they are sent to robotic device 114, UCAT apparatus 116A, 116B or116C, mobile base station 101A, 101E or 101C, mini robotic device(s)134, and/or any other component(s) of system 100A, 100B or 100C as maybe necessary either via wireless connectivity or wired via cord(s) 118b. Robotic device 114, in conjunction with mobile base station 101A,101B or 101C, UCAT apparatus 116A, 116B or 1160, mini robotic device(s)134, and/or any other necessary component(s) of system, 100A, 100B or100C begins performing the assigned task(s) once the instructions arereceived and/or when user 124 gives a start command.

At step 1108 the depletable material(s) and/or power supply levelswithin robotic device 114 are monitored by one or more sensors whereinthe sensors communicate the sensing result to the computing device 126and/or the mobile base station 101A, 101B or 1010. The monitoring may beaccomplished by viewing one or more indicators 130 displayed oncomputing device 126 or by computing device 126 alerting user 124 aboutinformation regarding the status of the depletable material(s), powersupplies, environmental variables, or other similar information thatwould prompt a desire for user 124 to take action as will be apparent tothose skilled in the relevant art(s) after reading the descriptionherein. Indicators 130 may comprise digital gauges, meters, percentages,and/or other similar means for identifying how much of a substance isremaining relative to how much of the substance can be stored total aswill be recognized by those skilled in the relative art(s).

The displays 130 may be duplicated on at least one display device 1254(FIG. 12A or 12B). User 124 may check the material(s) and/or powersupply levels within robotic device 114 at any time, including before atask is started, while a task is being performed, and after a task hasbeen completed. Similar indicators may be displayed to show how muchmaterial(s) is/are left in reservoir 110, supplemental device(s) 112,and/or power supply source 106 as determined by sensors located thereinthat are communicatively coupled to one or more computational componentsassociated with system 100A, 100B or 100C, and also to display theoverall functionality of system 100A, 100B or 100C, includingidentifying if components are working properly and similar functionalstatuses as will be appreciated by those skilled in the relevant art(s)after reading the description herein. In some aspects, user 124 is notrequired to visually monitor the various statuses of system 100A, 100Bor 100C. Rather, audio alerts generated by speakers within computingdevice 126, robotic device 114, reservoir 110, supplemental device(s)112, power supply source 106, computational hardware 108, or any othercomponent of system 100A, 100B or 1000, in the form of buzzers, ringers,beepers, human speech, and the like as recognized by those skilled inthe relevant art(s) may signal to a user when the levels of somethingare getting too low and/or a component of system 100A, 100B or 1000 isnot functioning properly. The mobile base station may include a speaker1256 as shown in FIG. 12A or 12B.

At step 1110, a command is sent to computational hardware 108 withinmobile base station 101A, 101B or 101C to perform a refill/replenishmentfunction. The command may be sent as a response to an input from user124 into computing device 126 or computational hardware 108, or thecommand may be sent from sensors within robotic device 114 that detectmore materials and/or power supplies are needed. In such aspects whenthe command is sent as a response to user 124 input, the input maycomprise user 124 selecting a button 128 on computing device 126 orcomputational hardware 108 that is specifically programmed to easilyguide user 124 though the initiation process. By way of example and notlimitation, such button may be labeled, “Fill.” The command may be sentvia wireless or wired connectivity and may include what type of and howmuch material(s) and/or power supply(ies) to send to robotic device 114.Upon receipt of the command, computational hardware 108 causes powersupply source 106, depletable material(s) reservoir 110, and/orsupplemental device(s) 112 to send power supplies and/or depletablematerials, respectively, to robotic device 114 via UCAT apparatus 116A,116B or 1160.

Power supplies may be sent via cord(s) 118 a, which may comprise cablesand/or wires when the power supplies are electrical in nature, or tubingwhen the power supplies are of a gaseous, liquid, or othernon-electrical form as will be appreciated by those skilled in therelevant art(s) after reading the description herein. Depletablematerials may be sent to robotic device 114 via tubing or similarstructure(s) as recognized by those skilled in the relevant art(s) inthe form of cord(s) 118 c. By way of example and not limitation,depletable materials may include water, soap, paint, liquid polymers,flammable gases, and any other materials that may be used by roboticdevice 114 to complete any type of task as will be appreciated by thoseskilled in the relevant art(s) after reading the description herein.

In some aspects, once a refill/replenishment process has been started,it continues indefinitely to supply a constant feed of materials and/orpower supplies to robotic device 114. In such aspects, user 124 mayinput commands into computing device 126 and/or computational hardware108 in order to adjust the rate at which the materials and/or powersupplies are transferred to robotic device 114. The feed may continueuntil user 124 inputs a stop command, or the feed may end automaticallyonce system 100A, 100B or 100C has determined that robotic device 114has completed its designated task(s). Alternatively, robotic device 114may autonomously send commands to computational hardware 108 in order tocontrol and/or adjust the rate at which materials and/or power suppliesare transferred to robotic device 114, along with commands to startand/or stop the transfers. Input from the robotic device 114 may alsoautomatically “regulate” the flow of material by starting or stopping oradjusting the variable flow of the material or by augmenting/mixing orother methods to modify the viscosity of the material.

The monitoring and/or refill/replenishment functions may be repeatedperiodically during the course of task performance by robotic device114.

At step 1112, robotic device 114 completes and ends its task(s) and/oruser 124 ends the task(s) and powers off components of the system 100A,100B or 100C, computing device 126 and/or powers off and stores roboticdevice 114.

Process 1100 is terminated by step 1114 and process 1100 ends.

FIG. 11B is a flowchart of a process 1150 for a mobile base station(i.e., mobile base station 101A, 101B or 101C) to control an unmannedself-propelled (USP) vehicle (i.e., robotic device 114), according to anaspect of the present disclosure, Process 1150 begins at step 1152 withcontrol passing immediately to step 1154. At step 1154, the process 1150may include providing a mobile base station on a mobile platform, themobile base station comprising a power supply; a fluid medium sourcehaving a fluid medium; one or more processors operable to generatecontrol signals to control an unmanned self-propelled (USP) vehicle(i.e., robotic device 114) having a tool with a dispensed tool outputand to affect the dispensed tool output from the tool; and an umbilicalcabling and tethering (UCAT) apparatus (i.e., UCAT apparatus 116A, 116Bor 116C) to interconnect the USP vehicle and the mobile base station.

At step 1156, the process 1150 may include interconnecting the USPvehicle and the mobile base station. At step 1158, the process 1150 mayinclude generating, by the one or more processors of the mobile basestation, the control signals to control the USP vehicle.

At step 1160, the system communicates one or more of power from thepower supply, the control signals and the fluid medium through the UCATapparatus. For example, in certain instances the mobile base station maycommunicate control signal to the USP vehicle wirelessly. In otherinstances, the mobile base station may communicate control signalsthough a wired connection via the UCAT apparatus. In some instances, theUSP vehicle may be have an on-board processor to control one or moretasks directly. In some instances, the USP vehicle may use a combinationof control signal generated by one or more of on-board processors of theUSP vehicle, control signals from the mobile base station and controlsignals from the computing device 126.

At step 1162, the dispensed tool output of the tool if affected via thecontrol signals and/or movement of the mobile platform. The output ofany tool may be affected by movement of the mobile base station suchthat the dispensed tool output is moved to a different location as theresult of the movement of the mobile base station. The dispensed tooloutput may also be affected by the movement of the USP vehicle. The USPvehicle can only cover a first area within the limitations of the lengththe UCAT apparatus. A larger area (second area) may be covered as themobile base station moves. The dispensed tool output may be affected bychanging the dispensed material. For example, the dispensed tool outputmay be varied to apply layers of material one at a time. The dispensedtool output may be varied as the result of sensing one or moreparameters as will be described in more detail later.

The dispensed tool output may be a form of fluid medium wherein a fluidmedium may include a solid, liquid, composition and a gas (wherein gasmay include air). The fluid medium may include one or more of sand,microscopic granulates of metal, water, air, gases, chemicals, andorganic and inorganic compounds including various solid and semi-solidcompounds. By way of non-limiting example, the fluid medium may includea gas such as air which is blows at a rate to move particles (snow,sand, leaves, etc.) in an environment in a certain direction. The fluidmedium may include a fuel which creates a flame (dispensed tool output)for welding or scorching wood. Scorching wood may be for controlledburning of foliage to prevent fires. Scorching may be used to create aparticular finish on a structure. A tool may be used to perform weldingfor repairing structures or for building.

The dispensed tool output may be the effects movement of a tool such aswithout limitation movement of slapping rag brushes, brushes, andsqueegees wherein the amount of pressure of the tool to a surface tobrush, squeegee, or wipe may be controlled. By way of non-limitingexample, the USP vehicle is controlled to use slapping rag brushes,brushes, and squeegees over a particular area of a surface.

The dispensed tool output may include the application of a fluid mediumsuch as paint for painting a surface, cleaning solutions for cleaning asurface, or coating for coating a surface. By way of non-limitingexample, the dispensed tool output may include sensing by a tool whereina sensing signal is applied in a direction of the object to be sensed.The start and end of sensing includes “affect the dispensed tooloutput”. The tool (add-on) to sense parameters and communicate suchsensed parameter to a mobile base station 101A, 101B or 1010 or mobilecomputing device 126.

By way of non-limiting example, the dispensed tool output may includethe generation of a signal as the result of the operation of the toolwhere such signal is sent back to the mobile base station 101A, 101B or101C or mobile computing device 126.

Thus, the dispensed tool output may include an operation by a tool tocause a hole to be formed in a surface or object and an operation usingthe tool to cause material (particles) from the hole creation (such asdrilling) to be communicated back to the mobile base station 101A, 101Bor 101C or into the environment. Hence, the material when extracted suchas by suctioning or vacuuming effectively creates a second path for afluid medium to flow. However, the second path may include a fluidmedium generated from the environment. The fluid medium may includewater for water extraction, gas including air, material, etc. The fluidmedium may include positive air pressure or negative air pressure. Ascan be appreciated, there are numerous ways in which the dispensed tooloutput is affected.

Process 1100 is terminated by step 1164 and process 1150 ends.

FIG. 12A is a block diagram of the interrelationship of the maincomponents of the UCAT operations system 1200A, according to an aspectof the present disclosure.

At the core of the UCAT system 1200A is robotic device 114. Roboticdevice 114 may be integrated with a material applicator or tool 204.Tool 204 may comprise a means for performing an action 1274 (dispensedtool output), a nozzle 206, and a barrel or arm 231. Without limitation,examples of action 1274 include painting, coating, blasting/stripping(for prepping a surface) washing, and similar actions as will becomeapparent to those skilled in the relevant art(s) after reading thedescription herein. Nozzle 206 may be configured on the distal end ofbarrel or arm 231 relative to robotic device 114. One or more materialsmay be transported from robotic device 114 to nozzle 206 via barrel orarm 231. Barrel or arm 231 is a hollow rigid or semi-rigid tube-likestructure securely fixed to robotic device 114. Nozzle 206 may functionto disperse one or more materials from robotic device 114 onto atargeted structure or area.

As described previously, robotic device 114 may also be integrated withUCAT apparatus 1216A. The UCAT apparatus 1216A may further comprise oneor more cords 118 a-118 d. Cord(s) 118 a-118 d may comprise two generaltypes: hoses and power/data delivery. Hoses may include cables, tubes,wires, or similar structures as will be apparent to those skilled in therelevant art(s) after reading the description herein. Hoses may functionto carry material(s) to and/or away from robotic device 114. In asimilar fashion, power and or data delivery may comprise cables, tubes,wires, or similar means as will be recognized by those skilled in therelevant art(s) for transporting power supplies to robotic device 114,the power supplies being in the form electricity, liquid and/or gaseousfuels, or any other form as may become apparent to those skilled in therelevant art(s) after reading the description herein.

UCAT apparatus 1216A further serves as a means to connect robotic device114 to mobile base station 1201A. The UCAT apparatus 1216A may includecomputational hardware (CH) 1233 to control one or more functions of theUCAT apparatus 1216A, The UCAT apparatus 1216A may include at least onesensor 1247 to sense a position or functional status of the UCATapparatus. Functional status may include flow of a fluid medium throughthe cords or a break in a power deliver cord. The at least one sensor1247 may determine a position of the casing or cords.

Mobile base station 1201A may house power supply source 106, material(s)reservoir 110, and, in some aspects, supplemental device(s) 112. Powerdelivery via cord 118 a may connect power supply source 106 to roboticdevice 114 for the purpose of transferring power from the former to thelatter. Likewise, cords 118 b-118 d mat be hoses which may connectmaterial(s) reservoir 110 and/or supplemental device(s) 112 to roboticdevice 114 for the purpose of transporting various materials back andforth amongst them. The mobile base station 1201A may includecomputational hardware 108 which may include processors/controllers1268. The mobile base station 1201A may include one or more sensors 1225to detect a condition of house power supply source 106, material(s)reservoir 110, and, in some aspects, supplemental device(s) 112.

In some aspects, especially when robotic device 114 is aerial vehicle214 or a similar device, mobile base station 1201A may be furtherintegrated with landing pad 400 (i.e., landing pad 400A or 400B).Landing pad 400 may serve as a connectivity point for providing and/orreceiving power supplies, materials, and/or data to/from robotic device114 as well as being a landing pad/storage interface for device 114.

Mobile base station 1201A and/or landing pad 400 may be integrated withcontrollers 1268. Controllers 1268 may function to control thefunctionality of system 1200A in response to manual inputs 1222 made byuser 124 within a software environment 1220. Software environment 1220may be presented to user 124 at computing device 126 and/or at a userinterface integrated with computational hardware 108 within mobile basestation 1201A.

In some aspects, robotic device 114 includes a lift system 1217. Liftsystem 1217 comprises at least one motor 1219 and at least one prop 1228and functions to give robotic device 114 the ability to lift itself offthe ground. Such a configuration exists in such aspects when, by way ofexample and not limitation, robotic device 114 is aerial vehicle 214. Insome alternative aspects, other means are used to lift robotic device114 off the ground without motor 1219 and/or prop 1228. By way ofexample and not limitation, jet propulsion may be used to provide liftto robotic device 114. Other means of achieving lift for device 114 maybecome apparent to those skilled in the relevant art(s) after readingthe description herein.

The mobile base station 1201A include a mobile platform 1262 which mayinclude a motor to propel the mobile base station 1201A via wheels or apropeller. The mobile base station 1201A may include a location to storeinterchangeable tools 1204. The mobile base station 1201A may includeone or more outputs which includes at least a display device 1254 andspeaker 1256, The display device 1254 may include a LCD display, LEDdisplay or projector device. The display device 1254 may also includecontrol panel with lights or may include a graphical user interface todisplay status conditions at the mobile base station 1201A. The mobilebase station 1201A may include a voice recognition module 1264 andmotion control sensors 1260.

FIG. 12B is a block diagram of the interrelationship of the maincomponents of the UCAT operations system 1200B with a UCAT assist system1230, according to an aspect of the present disclosure. Since system1200B is similar to system 1200A, only the differences will bedescribed. In system 1200B, the mobile base station 1201B includes UCATapparatus 1216B configured to be assisted by a UCAT assist system 1230.The UCAT apparatus 1216B may include fasteners 1237. The fasteners aredescribed in more detail in relation to FIGS. 15A and 15B. The UCATassist system 1230 includes a plurality of UCAT assist devices 1234configured to be attached to the UCAT apparatus 1216B via fasteners1237. The UCAT assist devices 1234 may be charged/recharged by landingpad 400 or refilled with a fluid source. The mobile base station 1201Bmay serve to transport the UCAT assist system 1230. In system 1200B, aplurality of landing pads 400 are provided such as for one or more ofthe UCAT assist devices 1234. A landing pad may be used for the roboticdevice 114. The UCAT assist system is described in more detail inrelation to FIGS. 15A and 15B.

Referring now to FIG. 13, a block diagram of a computer system usefulfor implementing various aspects the processes disclosed herein, inaccordance with one or more aspects of the present disclosure, is shown.

That is, FIG. 13 sets forth illustrative computing functionality 1300that represents one or more physical and tangible processing mechanisms.

Computing functionality 1300 may comprise volatile and non-volatilememory, such as RAM 1302 and ROM 1304, as well as one or more processingdevices 1306 (e.g., one or more central processing units (CPUs), one ormore graphical processing units (GPUs), and the like). Computingfunctionality 1300 also optionally comprises various media devices 1308,such as a hard disk module, an optical disk module, and so forth.Computing functionality 1300 may perform various operations identifiedabove when the processing device(s) 1306 execute(s) instructions thatare maintained by memory (e.g., RAM 1302, ROM 1304, and the like).

More generally, instructions and other information may be stored on anycomputer readable medium 1310, including, but not limited to, staticmemory storage devices, magnetic storage devices, and optical storagedevices. The term “computer readable medium” also encompasses pluralstorage devices. In all cases, computer readable medium 1310 representssome form of physical and tangible entity. By way of example, and notlimitation, computer readable medium 1310 may comprise “computer storagemedia” and “communications media.”

“Computer storage media” comprises volatile and non-volatile, removableand non-removable media implemented in any method or technology forstorage of information, such as computer readable instructions, datastructures, program modules, or other data. Computer storage media maybe, for example, and not limitation, RAM 1302, ROM 1304, EEPROM, Flashmemory, or other memory technology, CD-ROM, digital versatile disks(DVD), or other optical storage, magnetic cassettes, magnetic tape,magnetic disk storage, or other magnetic storage devices, or any othermedium which can be used to store the desired information and which canbe accessed by a computer.

“Communication media” typically comprise computer readable instructions,data structures, program modules, or other data in a modulated datasignal, such as carrier wave or other transport mechanism. Communicationmedia may also comprise any information delivery media. The term“modulated data signal” means a signal that has one or more of itscharacteristics set or changed in such a manner as to encode informationin the signal. By way of example, and not limitation, communicationmedia comprises wired media such as a wired network or direct-wiredconnection, and wireless media such as acoustic, RF, infrared, and otherwireless media. Combinations of any of the above are also includedwithin the scope of computer readable medium.

Computing functionality 1300 may also comprise an input/output module1312 for receiving various inputs (via input modules 1314), and forproviding various outputs (via one or more output modules). Oneparticular output module mechanism may be a presentation module 1316 andan associated GUI 1318. Computing functionality 1300 may also includeone or more network interfaces 1320 for exchanging data with otherdevices via one or more communication conduits 1322. In someembodiments, one or more communication buses 1324 communicatively couplethe above-described components together.

Communication conduit(s) 1322 may be implemented in any manner (e.g., bya local area network, a wide area network (e.g., the Internet), and thelike, or any combination thereof). Communication conduit(s) 1322 mayinclude any combination of hardwired links, wireless links, routers,gateway functionality, name servers, and the like, governed by anyprotocol or combination of protocols.

Alternatively, or in addition, any of the functions described herein maybe performed, at least in part, by one or more hardware logiccomponents. For example, without limitation, illustrative types ofhardware logic components that may be used include Field-programmableGate Arrays (FPGAs), Application-specific Integrated Circuits (ASICs),Application-specific Standard Products (ASSPs), System-on-a-chip systems(SOCs), Complex Programmable Logic Devices (CPLDs), and the like.

The terms “module” and “component” as used herein generally representsoftware, firmware, hardware, or combinations thereof. In the case of asoftware implementation, the module or component represents program codethat performs specified tasks when executed on a processor. The programcode may be stored in one or more computer readable memory devices. Thefeatures of the present disclosure described herein areplatform-independent, meaning that the techniques can be implemented ona variety of commercial computing platforms having a variety ofprocessors (e.g., set-top box, desktop, laptop, notebook, tabletcomputer, personal digital assistant (PDA), mobile telephone, smarttelephone, gaming console, and the like).

FIG. 14 is a view of the UCAT operations system 1400 dispensing a fluidmedium in the direction of a building 1420, according to an aspect ofthe present disclosure. The system 1400 includes an unmannedself-propelled (USP) vehicle 1414 (such as a drone, UAV, or roboticdevice) comprising a tool 1404 having a dispensed tool output(represented as fluid medium 1430 applied to a window of building 1420).

The system 1400 includes a mobile base station 1401 having a mobileplatform 1402. The mobile base station comprises a power supply source(PSS) 1406 and computational hardware (CH) 1408 having one or moreprocessors. The mobile base station 1401 may include a fluid mediumsource such as reservoir 1410 having a pump to pump an amount of a fluidmedium from within the reservoir 1410. The one or more processors may beoperable to generate control signals to control the USP vehicle 1414 andto affect the dispensed tool output from the tool. Additionally, the oneor more processors may generate control signals to control the tool aswell such as, without limitation, to control an articulating arm,telescopic action by a tool.

The mobile base station 1401 may include an umbilical cabling andtethering (UCAT) apparatus 1416 to interconnect the USP vehicle 1414 andthe mobile base station 1401. The UCAT apparatus 1414 may provide theUSP vehicle 1414 with one or more of power from the power supply source(PSS) 1406, a fluid medium from the fluid medium source (i.e., reservoir1410) and the control signals. In one embodiment, the computationhardware (CH) 1408 may communicate one or more control signals to theUSP vehicle 1414 via a wireless communication protocol or a wirelesscommunication medium. In an embodiment, the pump is configured to pumpthe fluid medium up the UCAT apparatus 1416. In another embodiment, theUSP vehicle 1414 may include a pump connected to the UCAT apparatus 1416to pump the fluid medium from the fluid medium source (i.e., reservoir1410) up to the USP vehicle 1414.

The mobile computing device 126 (FIG. 1A, 1B or 1C) may also be part ofsystem 1400. The mobile base station 1401 may include one or moresupplemental devices 1412.

FIG. 15A is a view of the UCAT assist system 1530A, according to anaspect of the present disclosure. The system (i.e., system 100B or 100C)may comprises a mobile base station (i.e., mobile base station 101B and101C) and a robotic device 114. For a frame of reference, the roboticdevice 114 may be a first unmanned self-propelled (FUSP) 1514. Themobile base station may be operable to generate control signals tocontrol the first unmanned self-propelled (FUSP) vehicle 1514, having atool 1504 with a dispended tool output. The one or more control signalsmay affect the dispensed tool output from the tool. The umbilicalcabling and tethering (UCAT) apparatus 1516A may be configured tointerconnect the FUSP vehicle 1514 and the mobile base station (i.e.,mobile base station 101B or 101C) via at least one cord, the at leastone cord communicating to the FUSP vehicle 1514 one or more of powerfrom the power supply, the control signals and fluid medium from thefluid medium source. The UCAT apparatus 1516A may comprise at least onfirst assist fastener member 1537A coupled to the casing of the UCATapparatus 1516A. However, the UCAT apparatus 1516A may include aplurality of first assist fastener members 1537A distributed along alength of the UCAT apparatus 1516A. The UCAT apparatus 1516A or mobilebase station may include computational hardware 1548 configured toreceive signals from sensors 1547.

The UCAT assist system 1530A may include at least one UCAT assist device1534A which may connect and reconnect to any one of the plurality offirst assist fastener members 1537A. As a frame of reference the UCATassist device 1534A includes a mini robotic device (i.e., mini roboticdevice 134 a, 134 b or 134 c) which may be a second unmannedself-propelled (SUSP) vehicle having a second assist fastener member1549A. The second assist fastener 1549A may be removably coupled to theat least one first assist fastener member 1537A of the UCAT apparatus1516A, wherein each UCAT assist device 1534A when attached to the UCATapparatus 1516A assists a portion of the at least one cord or casing ofthe UCAT apparatus 1516A. Multiple UCAT assist devices can assistmultiple portions of the UCAT apparatus 1516A.

The FUSP vehicle 1514 and the SUSP vehicle comprise one of a multi-rotorrotorcraft, an aerial vehicle and a waterproof aerial vehicle.

The at least one first assist fastener member 1537A and/or the secondassist fastener member 1549A may comprise a magnet wherein the at leastone first assist fastener member 1537A and the second assist fastenermember 1549A may be fastened together via a magnetic force.

The UCAT assist system 1530A may comprise a plurality of UCAT assistdevices 1534A, wherein each UCAT assist device 1534A comprises a secondunmanned self-propelled (SUSP) vehicle having a second assist fastenermember 1549A, the second assist fastener 1549A removably coupled to arespective different one of the first assist fastener members 1537A ofthe UCAT apparatus 1516A, wherein each UCAT assist device 1534A whenattached to the UCAT apparatus 1516A to assist a portion of the UCATapparatus 1516A. In general, the first assist fastener member 1537A maynot be dedicated to any one UCAT assist device 1534A.

The mobile base station may comprise a landing pad (i.e., 400A or 400Bof FIGS. 4A and 4B) for the SUSP vehicle 1534A to land thereon, whereinthe landing pad includes a charging mechanism to charge the SUSP vehiclewhen landed. The landing pad may comprise machine readable markings 404a and 404 b or beacons 407 (i.e., LEDs) detectable by the SUSP vehicleduring landing. The UCAT apparatus 1516A may comprise one or moresensors 1547 to sense at least one parameter associated with afunctionality status and/or position of the UCAT apparatus. The systemmay include computational hardware to: determine a position and/or thecurrent functionality status of the UCAT apparatus; cause a display on adisplay device or control panel to a user of the functionality status orposition based on the sensed at least one parameter; and control theUCAT assist device(s) based on the sensed at least one parameter. By wayof nonlimiting example, each UCAT assist device may be configured tosupport a portion of a weight of the one or more cords or casing of theUCAT apparatus 1516A; and move and maneuver the one or more cords orcasing. The UCAT assist device may be configured to interchange the toolor a tool tip on the FUSP vehicle.

The UCAT assist device may land on the UCAT apparatus 1516A or mobilebase station (i.e., 101B or 101C) or elsewhere but are still part of thecommunications chain of the UCAT operations system. The UCAT apparatus1516A may “call them to action” (meaning the UCAT assist devices) tohelp move or reposition the casing or cords of the UCAT apparatus 1516A.FIG. 15B is a view of the UCAT apparatus with hook fasteners, accordingto an aspect of the present disclosure. FIG. 15B is similar to FIG. 15Ahowever, the fasteners and the UCAT assist devices are different. Thus,only the differences will be described. The umbilical cabling andtethering (UCAT) apparatus 1516B may be configured to interconnect theFUSP vehicle 1514 and the mobile base station (i.e., mobile base station101B or 101C) via at least one cord, the at least one cord communicatingto the FUSP vehicle 1514 one or more of power from the power supply, thecontrol signals and fluid medium from the fluid medium source. The UCATapparatus 1516B may comprise at least on first assist fastener member1537B coupled to the casing of the UCAT apparatus 1516B. Fastener member1537B may be a hook or hook and loop fastener. The UCAT assist systemfastener(s) 1537A and 1537B and fasteners 1549A and 1549B may comprise aplurality of connection and attachment methods.

The UCAT assist system 1530B may comprise a plurality of UCAT assistdevices 1534B, wherein each UCAT assist device 1534B comprises a secondunmanned self-propelled (SUSP) vehicle having a second assist fastenermember 1549B, the second assist fastener 1549E removably coupled to arespective different one of the first assist fastener members 1537B ofthe UCAT apparatus 1516B, wherein each UCAT assist device 1534B whenattached to the UCAT apparatus 1516B to assist a portion of the UCATapparatus 1516B. In general, the first assist fastener member 1537B maynot be dedicated to any one UCAT assist device 1534B. Furthermore, eachUCAT assist device 1534B may be include a mini UCAT apparatus 1538 forreceipt of one or more of power, control signals or a fluid medium suchas described above in relation to a robotic device 114. The mini UCATapparatus 1538 may limit the flight or movement of each UCAT assistdevice. In some instance, each UCAT assist device 1534B would have adedicated fastener in which to attach to lift the casing of the UCATapparatus 1516B.

FIG. 15C is a view of a UCAT assist device 1534C with a tool 1564,according to an aspect of the present disclosure. The UCAT assist device15340 may comprise a tool 1564 having a dispensed tool output which maybe in addition to the dispensed tool output of the FUSP vehicle 1514.The UCAT assist device 1534C includes a fastener 1549C located on thechassis of the device 1534C. The fastener 15490 should be located at apoint on UCAT assist device 1534C which does not interfere withattachment to the UCAT apparatus and the operations thereof.

FIG. 16 is a view of a UCAT operations system 1600 building a structure1620, according to an aspect of the present disclosure. The UCAT system1600 may comprises a mobile base station 1601 similar to mobile basestation 101A, 101B and 1010 and a robotic device 1614. For a frame ofreference, the robotic device 1614 may be a first unmannedself-propelled (FUSP). The mobile base station 1601 may be operable togenerate control signals to control the first unmanned self-propelled(FUSP) vehicle, having a tool 1604 with a dispended tool output. In oneaspect, the dispensed tool output is a foam or fluid medium which may becured.

The robotic device 1614 may include a container 1632 and legs 1625. Thelegs 1625 may include wheels. The container 1632 may include a source offluid medium. The material in container 1632 may be mixed with amaterial or fluid medium from the mobile base station 1601.

The system 1600 may also include a mobile computing device 1626 operatedby user 1624 to control the task of building a structure 1620, toreplenish any of the fluid sources, or to move the mobile base station1601 with assistance of the one or more mobility sensors 1258, forexample. The mobile computing device 1626 would function in a manner asdescribed above in relation to computing device 126 or 726. The UCATapparatus 1616 may include a UCAT assist system 1530A or 1530B aspreviously described in FIG. 15A or 15B.

FIG. 16, FIGS. 18A-18D and 19A-19B are 3D printing/additivemanufacturing process of structures or buildings whereby the mobile basestation may transfer material (fluid medium) through the UCAT apparatussuch as, but not limited to, expanding spray foam, liquid or semi soliduncured concrete, fiberglass, resins, etc. to the aerial vehicle. In anaspect, the aerial vehicle deposits the material into a form such as anexpandable accordion type mold (i.e., collapsible building structureelement 1870) wherein it cures or hardens and the result is anarchitectural structure, shown as a beam or pole as an example in FIG.18A.

One or more accessories or tools (i.e., tool 1604) may be a 3D printhead or additive manufacturing print arm or component. The 3Dprinting/additive manufacturing may include but is not limited to 3Dprinting of architectural structures such as hospitals, houses, bridgesand other infrastructure. In some aspects, the mobile base station 1601or reservoir 110 may contain sprayable expanding construction foam. Inthis instance, the foam would be transferred from the mobile basestation 1601 through the UCAT apparatus 1616 to the aerial vehicle 1614whereby it would be deposited or secreted into a form or mold 1620. Theform or mold 1620 can optionally be anchored via clips, hooks, tiedowns, etc. (i.e., fasteners 1875) that hold the base of the form ormold in place.

The form or mold 1620 may be paper, plastic, tin foil, metals, or othermaterials or combination of materials. The form or mold 1620 may besupported with wire, plastic or other supports similar to a clothesdryer accordion style exhaust vent. Materials such as the sprayableexpanding construction foam would be deposited into the form or mold1620 where it would cures or harden and in many cases expand. The aerialvehicle 1614 would then detach from or drop the form or mold and be freeto resume further or different operations.

Upon hardening of the material in the form or mold the form or mold maybe removed or left in place as part of the architectural supportstructure (in this example a beam or pole) or as decoration. The form ormold may have various hooks, connectors, cavities, holes, brackets, etc.to facilitate attaching items, components or structures together;attaching supplemental items; or to hang or rest things.

In another example the aerial vehicle 1614 could take off (fly) with theform or mold “collapsed” (meaning not extended) and deploy or drop thebottom of the form or mold at any predetermined location wherein itcould expand and unfold downward; hover over the form or mold, and addmaterial(s) from the mobile base station 1601. Optionally when thedeposited material has hardened or cured the aerial vehicle 1614 wouldthen detach or drop the form or mold. In some instances the form or moldmay have a base pre-installed. The base would prevent added materialfrom escaping or exiting the bottom of the form or mold. The base couldalso anchor or assist in anchoring the form or mold into position. Theform or mold may include collapsible building structure element 1870.

FIG. 18A is a view of a collapsible building structure element 1870,according to an aspect of the present disclosure. The collapsiblebuilding structure element 1870 is shown in a collapsed position. Thecollapsible building structure element 1870 may be fastened to theground or other support surface 1876 via fasteners 1875.

FIG. 18B is a view of a UCAT operations system 1800 lifting thecollapsible building structure element 1870 of FIG. 18A, according to anaspect of the present disclosure. The tool may include a claw, grippers,or other fasteners 1806 which clamps or grips to a top end of thecollapsible building structure element 1870 or a support element such asa cable that holds or connects the building structure element 1870 sothat as the robotic device 1814 lifts upward, the collapsible buildingstructure element 1870 expands or raises. The bottom of the collapsiblebuilding structure element 1870 remains fastened to the ground or othersupport surface 1876. The robotic device 1814 is shown attached to themobile base station 1801 via the UCAT apparatus 1816. While not shown,the system 1800 may include a mobile computing device. The UCATapparatus 1816 may include a UCAT assist system 1530A or 1530B aspreviously described in FIG. 15A or 15B.

FIG. 18C is a view of a UCAT operations system 1800 filling the liftedthe collapsible building structure element 1870 of FIG. 18B, accordingto an aspect of the present disclosure. A tool with a nozzle 1877 isshown filling the interior of the lifted collapsible building structureelement 1870. Nozzle or material extruder 1877 may be extendable anddetractable and include attachments such as a material disperser tofacilitate material placement within the collapsible building structureform 1870. The filling is represented as the dots 1888. The filing maybe a foam, cement or other building material. The building may beintended to be temporary. The building may be built in a disaster zonewhere temporary housing needs to be rapidly built. The process describedherein allows for three-dimensional (3D) additive manufacturing oftemporary housing by the UCAT operations system described herein.

FIG. 18D is a top view of a buildable structure 1865 using the UCAToperations system of FIGS. 18B-18C, according to an aspect of thepresent disclosure. The building structure 1865 may include a pluralityof collapsible building structure element 1870 which may be fastened viafasteners 1875. The plurality of collapsible building structure element1870 are filled with material for stability. The buildable structure1865 is shown with side walls 1890 and door 1892. The side walls 1890may be built by system 1800 using robotic device 1814 to follow anoutline for the walls. The door may be built onsite or purchased from astore. The ground or other support surface 1876 may be formed by thesystem 1800 using robotic device 1814 prior to placement of theplurality of collapsible building structure element 1870. Once thebuildable structure 1865 is finished, the interior ground or supportsurface 1976 may be cured with other COTS flooring. While only fourcollapsible building structure element 1870 are shown, the buildablestructure 1865 may have more or less.

The walls may be made of fiberglass or other durable material suitablefor temporary housing. The material may be weather resistant and/orenvironmentally resistant. In an aspect, the fiberglass or compositewalls are collapsible and configured to be raised but maintain agenerally continuous wall surface. One or more systems or roboticdevices 1814 may be used to fill two or more collapsible buildingstructure elements 1870 at a time.

FIG. 19A is a plan view of a buildable structure 1990 using at least oneUCAT operations system 1900, according to an aspect of the presentdisclosure. The UCAT operation system 1900 includes at least one roboticvehicle 1914A coupled to mobile base station 1901 via UCAT apparatus1916. The mobile base station 1901 has coupled thereto a source of fluidmedium from a cement truck 1999. Other sources of a fluid medium may beused. In lieu of cement, a foam or other curable material may be used tobuild structure 1990 shown in dashed lines. A second robotic vehicle1914B is shown picking up a support structure 1998. The supportstructure 1998 may be made on site such as by 3D printing including byUCAT operations system 1800, picked up by robotic vehicle 1914B andmoved to a predetermined location on the buildable structure 1990. In anaspect, the mobile base station 1901 may be omitted provided, the cementtruck 1999 or a truck with a fluid medium can communicate with therobotic vehicle 1914A.

The system 1900 may include two mobile base stations, one for eachrobotic vehicle. However, if robotic vehicle 1914B performs onlylifting, then the mobile base station for that robotic device may beoptional. However, the power of the robotic vehicle would need to bereplenished. Each robotic vehicle may have an assigned task(s) to buildthe structure 1990.

The robotic vehicles may be used to build the structure 1990 from theground up.

FIG. 19B is a view of a built structure 1990A and partially builtstructure 1990B using at least one UCAT operations system, according toan aspect of the present disclosure. The structure 1990A and 1990B maybe temporary building or permanent buildings. The plumbing of thestructures 1990A and 1990B may be installed using the UCAT operationsystem with the aid of a plumber. The electrical wiring may be installedwith the assistance of an electrician. Window AC units may be employedfor air conditioning and heating for temporary housing configurations.For permanent buildings, air-conditioning units and ducts may beinstalled after the structure is built or the 3D printing operations ofthe UCAT operations system 1800 may form or mold around openings suchthat the openings could be utilized as ducts for an air conditioningsystem. Similarly, the 3D printing operations of the UCAT operationssystem 1800 could print different materials for the wall and for theelectrical cable portion of the wall, for example depositing liquidmetal at the same location within the wall with each subsequentlyslightly higher pass thereby over the course of multiple passes anddeposits forming a vertical or multidirectional electrical cable.

FIGS. 20A-20C are views of an aerial vehicle 2014 above water, hoveringin water and submerged in water, according to an aspect of the presentdisclosure. In an aspect, the aerial vehicle 2014 may be a waterproofUAV or unmanned self-propelled vehicle. The aerial vehicle 2014 may beconfigured for both on land, above land including low or no gravityenvironments and underwater operations. The aerial vehicle 2014 whensubmerges is represented in dashed lines, as shown in FIG. 20C. In FIG.20B only that portion of the aerial vehicle 2014 being submerged isrepresented as dashed lines. The rotors 2018 on the aerial vehicle 2014serve as propellers underwater for movement in water and for movementthrough air.

One or more of the systems 100A, 100E or 1000 described herein may beused for de-icing airplanes. Using a robotic device 114 or one or moremini robotic devices 134 a, 134 b or 134 c, an airplanes may be sprayedwith a de-icing solution. Then, a tool for sensing the thickness of thecoating of the de-icing solution may be used to determine if enoughde-icing chemicals was applied such as without over spraying.

The de-icing process may rely on information about the environment(current and expected weather/temperature/humidity/etc.) and theapplication rather than the expert opinion of a human operator. Therobotic device 114 or one or more mini robotic devices 134 a, 134 b or134 c could also spray close to the fuselage and other areas withouthaving to stay a distance from them as current human de-icers do.Further, the robotic device 114 or one or more mini robotic devices 134a, 134 b or 134 c may collect and log compliance and other data ashistorical information. The historical information may include how muchde-icer solution was applied to each portion of the plane, conditions atthe time of the application, etc.

The UCAT operations systems described herein may be used foragricultural harvesting such as fruit picking, nut picking or otherunharvested produce. The robotic device 114 could maneuver around trees,collect the fruit and transport it via the UCAT apparatus to the mobilebase station. The mobile base station could autonomously drive down rowsof trees or crops while the intelligent UCAT apparatus (supported andmoved by the mini robotic devices) places the robotic device 114 nearthe fruit to be harvested and an “attachment” to the robotic device 114can “pick” or gather the fruits/berries/nuts etc. and transfer them tothe mobile base station via the UCAT apparatus. In this aspect, the UCATapparatus would have cords of sufficient circumference to feed thepicked produce.

The UCAT operations systems described herein may be used inside ofstructures to perform cleaning, painting, welding, testing, sensing orother tasks described herein. The UCAT operations system may be used inenvironments which are hazardous to humans or not easily accessible byhumans. The UCAT operations system may be used to provide a helpinghand.

The tethering of the aerial vehicle by the UCAT apparatus may minimizeor nullify the need for Federal Aviation Administration (FAA) compliancewherein tethering limits the flight range of the aerial vehicle and/orthe system is defined as a robotic system and does not enter the UnitedStates airspace. The flight range of the tethered aerial vehicle isshort range and limited as a function of the length of the cords of theUCAT apparatus. Generally, UAVs have longer range flights such that theyare free to fly any distance limited only by its on-board power. Theaerial vehicles described herein may have a longer operational timebecause power may be derived from a larger power source of the mobilebase station through the UCAT apparatus during operation wherein theflight path being limited by the length of the UCAT apparatus providingsuch power and/or fluid medium.

In view of the foregoing, apparatus, systems, and methods are describedwhich facilitate the ability of novice users to monitor levels oftask-related materials and power supplies for robotic devices performingcertain tasks and operations; as well as to initiate a process orprocesses by which the task-related materials and power supplies may besupplied/replenished either continuously or on-demand; and/or by whichcollected materials may be removed or transferred, all without the needto interrupt the robotic device's task performance by recalling it to amaterial and/or power supply replenishment/deposit station or have ahuman user travel to the device to remove collected material from it, orotherwise interact with the device. Furthermore, apparatus, systems, andmethods are disclosed which enable users of all ability levels tomonitor a variety of aspects, including the functionality of allcomponents of a system that uses robotic devices to perform tasks,environmental variables that may affect the system, as well asadditional similar actionable items.

In an aspect, a hardware interface for drones/robots/UAV's is disclosedwhich incorporates computational hardware that may monitor, manage, andsupply the levels of task-related materials and power supplies to adrone/robot/UAV system. Additionally, a wireless or attachedtouchscreen, computer, verbal or other user interface is utilized toallow a user to view the material and power supply levels as well asinput commands that initiate processes by which the materials and powersupplies may be supplied, replenished, or transferred eithercontinuously or on-demand without interrupting the current functionalityof the drone/robot/UAV. The interface may be contained within one ormore mobile computing devices. The computing device(s) may comprise astandalone unit and/or may be integrated as part of a mobile basestructure.

The mobile base structure may comprise a platform or stage-likestructure that includes wheels or some other means of mobility. Themovement of the base structure may be user-driven or the base structuremay move on its own accord based on received instructions orautonomously based on information it has gathered through varioussensors and feedback. The base structure may be used to house modularinterchangeable electrical, mechanical, and other equipment; anintelligent command and control system, such as, by way of example andnot limitation, a computer tablet, embedded systems, and the like; andtask-related materials that may be used by drones/robots/UAV's.

A UCAT apparatus or system is also disclosed that serves to physicallyconnect the mobile base structure to the drone/robot/UAV. The UCATapparatus may comprise cords, cables, tubes, and similar structures thatfacilitate the movement of materials, power supplies, and/orcommunication between the base structure and the drone/robot/UAV.Computational modules may also be contained within the UCAT apparatus toenable it to communicate with other devices as well as to determine andbroadcast its current position and other information and data. The UCATapparatus in conjunction with the mobile base structure offer thedrone/robot/UAV unencumbered mobility.

While various aspects of the present disclosure have been describedabove, it should be understood that they have been presented by way ofexample and not limitation. It will be apparent to persons skilled inthe relevant art(s) that various changes in form and detail can be madetherein without departing from the spirit and scope of the presentdisclosure. Thus, the present disclosure should not be limited by any ofthe above described aspects.

In addition, it should be understood that the figures in theattachments, which highlight the structure, methodology, functionalityand advantages of the present disclosure, are presented for examplepurposes only. The present disclosure is sufficiently flexible andconfigurable, such that it may be implemented in ways other than thatshown in the accompanying figures (e.g., implementation within computingdevices and environments other than those mentioned herein). As will beappreciated by those skilled in the relevant art(s) after reading thedescription herein, certain features from different aspects of thesystems, methods and computer program products of the present disclosuremay be combined to form yet new aspects of the present disclosure.

Further, the purpose of the foregoing Abstract is to enable the U.S.Patent and Trademark Office and the public generally and especially thescientists, engineers and practitioners in the relevant art(s) who arenot familiar with patent or legal terms or phraseology, to determinequickly from a cursory inspection the nature and essence of thistechnical disclosure. The Abstract is not intended to be limiting as tothe scope of the present disclosure in any way.

What is claimed is:
 1. A system, comprising: an unmanned self-propelled(USP) vehicle comprising a tool having a dispensed tool output, the USPconfigured to fly along a flight path; a mobile base station having amobile platform, the mobile base station comprising: a power supply; amedium source; one or more processors operable to generate controlsignals to control the USP vehicle and to affect the dispensed tooloutput from the tool; and an umbilical cabling and tethering (UCAT)apparatus comprising at least one cord to interconnect the USP vehicleto the mobile base station, the UCAT apparatus providing the USP vehiclewith one or more of power from the power supply, a medium to or from themedium source and the control signals; a plurality of sensors coupledalong a length of the at least one cord of the UCAT apparatus to sense aposition of the at least one cord and a functional status of the mediumflowing through the UCAT apparatus and provide sensed information to theone or more processors; and a display configured to display to a userthe sensed information including the position of the at least one cordand the functional status of the medium during flight of the USPvehicle.
 2. The system of claim 1, wherein the USP vehicle is one of amulti-rotor rotorcraft, an aerial vehicle and a waterproof aerialvehicle.
 3. The system of claim 1, further comprising a remote controlsystem; wherein the medium source comprises one or more reservoirshaving a material supply, the material supply being the medium; whereinthe UCAT apparatus configured to deliver the material supply to the toolof the USP vehicle for dispensing by the dispensed tool output; andwherein the one or more processors of the mobile base station furtherbeing operable to communicate with a remote control system to identify astatus of the material supply of the one or more reservoirs as a resultof the dispensing.
 4. The system of claim 3, wherein the mobile basestation further comprises one or more sensors configured to sense astatus of one or more materials supply parameters of the one or morereservoirs, the one or more materials supply parameters comprises one ormore of an amount remaining, pH level, viscosity, temperature, andmixture ratios which affect the dispensed tool output.
 5. The system ofclaim 4, wherein the material supply comprises one or more of sand,microscopic granulates of metal, water, air, gases, chemicals, organicand inorganic compounds including solid and semi-solid compounds,wherein the material supply is communicated to the USP vehicle throughthe UCAT apparatus and dispensed through the tool as the dispensed tooloutput.
 6. The system of claim 1, wherein the mobile base stationcomprises a landing pad for the USP vehicle to land thereon.
 7. Thesystem of claim 6, wherein the landing pad comprises machine readablemarkings and/or a beacon detectable by the USP vehicle during landing.8. The system of claim 1, wherein the mobile base station comprises oneor more mobility sensors; and the one or more processors configured tomove the mobile platform based on sensed signals from the one or moremobility sensors and to affect the dispensed tool and output from thetool.
 9. The system of claim 1, wherein the mobile base stationcomprises one or more of a compressor, a vacuum, an airblower, amixer/stirrer, strainer, forced air supply, pump, and heater to affectthe dispensed tool output from the tool through the UCAT apparatus. 10.The system of claim 1, wherein at least one processor of the one or moreprocessors is a part of the UCAT apparatus.
 11. A mobile base station,comprising: a power supply; a medium source; one or more processorsoperable to generate control signals to control an unmannedself-propelled (USP) vehicle having a tool with a dispensed tool outputand to affect the dispensed tool output from the tool; and an umbilicalcabling and tethering (UCAT) apparatus comprising at least one cord tointerconnect the USP vehicle to the mobile base station, the UCATapparatus providing the USP vehicle with one or more of power from thepower supply, a medium to or from the medium source and the controlsignals; and a plurality of sensors coupled along a length of the atleast one cord of the UCAT apparatus to sense a position of the at leastone cord and a functional status of the medium flowing through the UCATapparatus and provide sensed information to the one or more processorswherein based on the sensed position, the at least one cord isrepositioned during flight of the USP vehicle along a flight path. 12.The mobile base station of claim 11, wherein the medium source comprisesone or more reservoirs having a material supply, the material supplybeing the medium; wherein the UCAT apparatus configured to deliver thematerial supply to the tool of the USP vehicle for dispensing by thedispensed tool output; and wherein the one or more processors of themobile base station further being operable to communicate with a remotecontrol system to identify a status of the material supply of the one ormore reservoirs as a result of the dispensing.
 13. The mobile basestation of claim 12, further comprising one or more sensors to sense astatus of one or more materials supply parameters of the one or morereservoirs, the one or more materials supply parameters comprises one ormore of an amount remaining, pH level, viscosity, temperature, andmixture ratios which affect the dispensed tool output.
 14. The mobilebase station of claim 12, wherein the material supply comprises one ormore of sand, microscopic granulates of metal, water, air, gases,chemicals, organic and inorganic compounds including various solid andsemi-solid compounds, wherein the one or more material supply iscommunicated to the USP vehicle through the UCAT apparatus and dispensedthrough the tool as the dispensed tool output.
 15. The mobile basestation of claim 11, further comprising a landing pad for the USPvehicle to land thereon.
 16. The mobile base station of claim 15,wherein the landing pad comprises machine readable markings and/or abeacon detectable by the USP vehicle during landing.
 17. The mobile basestation of claim 11, further comprising a mobile platform and one ormore mobility sensors; and the one or more processors configured to movethe mobile platform based on sensed signals from the one or moremobility sensors and to affect the dispensed tool output from the tool.18. The mobile base station of claim 11, wherein the mobile base stationcomprises one or more of a compressor, a vacuum, an airblower, amixer/stirrer, strainer, forced air supply, pump, and heater to affectthe dispensed tool output from the tool through the UCAT apparatus. 19.A method, comprising: providing a mobile base station on a mobileplatform, the mobile base station comprising a power supply; a mediumsource having a medium; one or more processors operable to generatecontrol signals to control an unmanned self-propelled (USP) vehiclehaving a tool with a dispensed tool output and to affect the dispensedtool output from the tool; and an umbilical cabling and tethering (UCAT)apparatus comprising at least one cord, with a plurality of sensorscoupled along at least one cord of the UCAT apparatus and being incommunication with at least one processor of the one or more processors,to interconnect the USP vehicle with the mobile base station;interconnecting the USP vehicle and the mobile base station via the atleast one cord of the UCAT apparatus; generating, by the one or moreprocessors of the mobile base station, the control signals to controlthe USP vehicle during flight of the USP along a flight path; sensing aposition of the at least one cord and a functional status of the mediumflowing through the UCAT apparatus with the plurality of sensors coupledalong a length of the at least one cord; communicating one or more ofpower from the power supply, the control signals and the medium throughthe UCAT apparatus; affecting the dispensed tool output of the toolduring flight of the USP vehicle via the control signals and movement ofthe mobile platform; and causing repositioning of the at least one cordin response to the sensed position of the at least one cord duringflight of the USP vehicle.
 20. The method of claim 19, furthercomprising: sensing, by one or more mobility sensors, mobility of themobile platform; and causing, by the one or more processors, the mobileplatform to move based on sensed signals from the one or more mobilitysensors and to affect the dispensed tool output from the tool.